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<div class="title">range_image.hpp</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2012, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *  Copyright (c) 2012-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *  are met:</span></div>
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<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
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<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160; </div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#ifndef PCL_RANGE_IMAGE_IMPL_HPP_</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#define PCL_RANGE_IMAGE_IMPL_HPP_</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160; </div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;pcl/pcl_macros.h&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common_2include_2pcl_2common_2distances_8h.html">pcl/common/distances.h</a>&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160; </div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;{</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160; </div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="keyword">inline</span> <span class="keywordtype">float</span></div>
<div class="line"><a name="l00050"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image.html#a6cb20514cdc04674448a5e5c6cb373bc">   50</a></span>&#160;<a class="code" href="classpcl_1_1_range_image.html#a6cb20514cdc04674448a5e5c6cb373bc">RangeImage::asinLookUp</a> (<span class="keywordtype">float</span> value)</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;{</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;  <span class="keywordflow">return</span> (asin_lookup_table[</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;      <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;        <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (pcl_lrintf ( (<span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (lookup_table_size-1) / 2.0f) * value)) + </div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;        <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (lookup_table_size-1) / 2.0f)]);</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;}</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160; </div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;<span class="keyword">inline</span> <span class="keywordtype">float</span></div>
<div class="line"><a name="l00060"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image.html#a17835570c515cca3ba1ecd0f132bf013">   60</a></span>&#160;<a class="code" href="classpcl_1_1_range_image.html#a17835570c515cca3ba1ecd0f132bf013">RangeImage::atan2LookUp</a> (<span class="keywordtype">float</span> y, <span class="keywordtype">float</span> x)</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;{</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;  <span class="keywordflow">if</span> (x==0 &amp;&amp; y==0)</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;    <span class="keywordflow">return</span> 0;</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;  <span class="keywordtype">float</span> ret;</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;  <span class="keywordflow">if</span> (fabsf (x) &lt; fabsf (y)) </div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;  {</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;    ret = atan_lookup_table[</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;      <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;          <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (pcl_lrintf ( (<span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (lookup_table_size-1) / 2.0f) * (x / y))) + </div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;          <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (lookup_table_size-1) / 2.0f)];</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;    ret = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (x*y &gt; 0 ? M_PI/2-ret : -M_PI/2-ret);</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;  }</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;    ret = atan_lookup_table[</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;      <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;          <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (pcl_lrintf ( (<span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (lookup_table_size-1) / 2.0f) * (y / x))) + </div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;          <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (lookup_table_size-1)/2.0f)];</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;  <span class="keywordflow">if</span> (x &lt; 0)</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;    ret = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (y &lt; 0 ? ret-M_PI : ret+M_PI);</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;  </div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;  <span class="keywordflow">return</span> (ret);</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;}</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160; </div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;<span class="keyword">inline</span> <span class="keywordtype">float</span></div>
<div class="line"><a name="l00086"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image.html#a29ab1f1088b1c8d111dfe02139882ded">   86</a></span>&#160;<a class="code" href="classpcl_1_1_range_image.html#a29ab1f1088b1c8d111dfe02139882ded">RangeImage::cosLookUp</a> (<span class="keywordtype">float</span> value)</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;{</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;  <span class="keywordtype">int</span> cell_idx = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (pcl_lrintf ( (<span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (lookup_table_size-1)) * fabsf (value) / (2.0f * <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (M_PI))));</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;  <span class="keywordflow">return</span> (cos_lookup_table[cell_idx]);</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;}</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160; </div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>CloudType&gt; <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00094"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image.html#a82f6a143de2d73a0ad9fea6c527a2efb">   94</a></span>&#160;<a class="code" href="classpcl_1_1_range_image.html#a82f6a143de2d73a0ad9fea6c527a2efb">RangeImage::createFromPointCloud</a> (<span class="keyword">const</span> PointCloudType&amp; point_cloud, <span class="keywordtype">float</span> angular_resolution,</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;                                  <span class="keywordtype">float</span> max_angle_width, <span class="keywordtype">float</span> max_angle_height,</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;                                  <span class="keyword">const</span> Eigen::Affine3f&amp; sensor_pose, RangeImage::CoordinateFrame coordinate_frame,</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;                                  <span class="keywordtype">float</span> noise_level, <span class="keywordtype">float</span> min_range, <span class="keywordtype">int</span> border_size)</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;{</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;  <a class="code" href="classpcl_1_1_range_image.html#a82f6a143de2d73a0ad9fea6c527a2efb">createFromPointCloud</a> (point_cloud, angular_resolution, angular_resolution, max_angle_width, max_angle_height,</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;                        sensor_pose, coordinate_frame, noise_level, min_range, border_size);</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;}</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160; </div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>CloudType&gt; <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00105"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image.html#ae3a8a2def6dde7446b9fc456f7992aa9">  105</a></span>&#160;<a class="code" href="classpcl_1_1_range_image.html#a82f6a143de2d73a0ad9fea6c527a2efb">RangeImage::createFromPointCloud</a> (<span class="keyword">const</span> PointCloudType&amp; point_cloud,</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;                                  <span class="keywordtype">float</span> angular_resolution_x, <span class="keywordtype">float</span> angular_resolution_y,</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;                                  <span class="keywordtype">float</span> max_angle_width, <span class="keywordtype">float</span> max_angle_height,</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;                                  <span class="keyword">const</span> Eigen::Affine3f&amp; sensor_pose, RangeImage::CoordinateFrame coordinate_frame,</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;                                  <span class="keywordtype">float</span> noise_level, <span class="keywordtype">float</span> min_range, <span class="keywordtype">int</span> border_size)</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;{</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;  <a class="code" href="classpcl_1_1_range_image.html#a2720450161caef9a2992b0ac943ab2b7">setAngularResolution</a> (angular_resolution_x, angular_resolution_y);</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;  </div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;  <a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>  = <span class="keyword">static_cast&lt;</span>uint32_t<span class="keyword">&gt;</span> (pcl_lrint (floor (max_angle_width*<a class="code" href="classpcl_1_1_range_image.html#adbb1466576e6c2d08e3065b67da0b250">angular_resolution_x_reciprocal_</a>)));</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;  <a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a> = <span class="keyword">static_cast&lt;</span>uint32_t<span class="keyword">&gt;</span> (pcl_lrint (floor (max_angle_height*<a class="code" href="classpcl_1_1_range_image.html#a843659230146a43690ee4d4fb53fcc92">angular_resolution_y_reciprocal_</a>)));</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;  </div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;  <span class="keywordtype">int</span> full_width  = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (pcl_lrint (floor (<a class="code" href="group__common.html#ga25b0ce695e2a10abb0130bcb5cf90eb6">pcl::deg2rad</a> (360.0f)*<a class="code" href="classpcl_1_1_range_image.html#adbb1466576e6c2d08e3065b67da0b250">angular_resolution_x_reciprocal_</a>))),</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;      full_height = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (pcl_lrint (floor (<a class="code" href="group__common.html#ga25b0ce695e2a10abb0130bcb5cf90eb6">pcl::deg2rad</a> (180.0f)*<a class="code" href="classpcl_1_1_range_image.html#a843659230146a43690ee4d4fb53fcc92">angular_resolution_y_reciprocal_</a>)));</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;  image_offset_x_ = (full_width -<span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>) )/2;</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;  <a class="code" href="classpcl_1_1_range_image.html#a1518af9f1c9eb6ac259be92824842e23">image_offset_y_</a> = (full_height-<span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a>))/2;</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;  <a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a> = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;  </div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;  <a class="code" href="classpcl_1_1_range_image.html#af5c0908bfbe060fdb517728fe56b2c55">getCoordinateFrameTransformation</a> (coordinate_frame, <a class="code" href="classpcl_1_1_range_image.html#a31c36f147403c0f64e1c3a386b30e229">to_world_system_</a>);</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;  <a class="code" href="classpcl_1_1_range_image.html#a31c36f147403c0f64e1c3a386b30e229">to_world_system_</a> = sensor_pose * <a class="code" href="classpcl_1_1_range_image.html#a31c36f147403c0f64e1c3a386b30e229">to_world_system_</a>;</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;  </div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;  <a class="code" href="classpcl_1_1_range_image.html#ada8177479f0e95999a66294db4c0c3eb">to_range_image_system_</a> = <a class="code" href="classpcl_1_1_range_image.html#a31c36f147403c0f64e1c3a386b30e229">to_world_system_</a>.inverse (Eigen::Isometry);</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;  <span class="comment">//std::cout &lt;&lt; &quot;to_world_system_ is\n&quot;&lt;&lt;to_world_system_&lt;&lt;&quot;\nand to_range_image_system_ is\n&quot;&lt;&lt;to_range_image_system_&lt;&lt;&quot;\n\n&quot;;</span></div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;  </div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> size = <a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>*<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a>;</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;  <a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.clear ();</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;  <a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.resize (size, <a class="code" href="classpcl_1_1_range_image.html#a51bf019906a3256038561354d6b95885">unobserved_point</a>);</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;  </div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;  <span class="keywordtype">int</span> top=<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a>, right=-1, bottom=-1, left=<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>;</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;  <a class="code" href="classpcl_1_1_range_image.html#a56655a55b4c83c7ce301ca0f020759b4">doZBuffer</a> (point_cloud, noise_level, min_range, top, right, bottom, left);</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;  </div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;  <a class="code" href="classpcl_1_1_range_image.html#a20f223d93080e9ce32122f90a265f7c4">cropImage</a> (border_size, top, right, bottom, left);</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;  </div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;  <a class="code" href="classpcl_1_1_range_image.html#a08d6ccfef80c3788102327df618a3fbf">recalculate3DPointPositions</a> ();</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;}</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160; </div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>CloudType&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00142"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image.html#afbb553405d9b1df2b10b08c98c052250">  142</a></span>&#160;<a class="code" href="classpcl_1_1_range_image.html#afbb553405d9b1df2b10b08c98c052250">RangeImage::createFromPointCloudWithKnownSize</a> (<span class="keyword">const</span> PointCloudType&amp; point_cloud, <span class="keywordtype">float</span> angular_resolution,</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;                                              <span class="keyword">const</span> Eigen::Vector3f&amp; point_cloud_center, <span class="keywordtype">float</span> point_cloud_radius,</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;                                              <span class="keyword">const</span> Eigen::Affine3f&amp; sensor_pose, RangeImage::CoordinateFrame coordinate_frame,</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;                                              <span class="keywordtype">float</span> noise_level, <span class="keywordtype">float</span> min_range, <span class="keywordtype">int</span> border_size)</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;{</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;  <a class="code" href="classpcl_1_1_range_image.html#afbb553405d9b1df2b10b08c98c052250">createFromPointCloudWithKnownSize</a> (point_cloud, angular_resolution, angular_resolution, point_cloud_center, point_cloud_radius,</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;                                     sensor_pose, coordinate_frame, noise_level, min_range, border_size);</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;}</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160; </div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>CloudType&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00153"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image.html#ac52b84843090cf756a37c596b5e772d2">  153</a></span>&#160;<a class="code" href="classpcl_1_1_range_image.html#afbb553405d9b1df2b10b08c98c052250">RangeImage::createFromPointCloudWithKnownSize</a> (<span class="keyword">const</span> PointCloudType&amp; point_cloud,</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;                                               <span class="keywordtype">float</span> angular_resolution_x, <span class="keywordtype">float</span> angular_resolution_y,</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;                                               <span class="keyword">const</span> Eigen::Vector3f&amp; point_cloud_center, <span class="keywordtype">float</span> point_cloud_radius,</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;                                               <span class="keyword">const</span> Eigen::Affine3f&amp; sensor_pose, RangeImage::CoordinateFrame coordinate_frame,</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;                                               <span class="keywordtype">float</span> noise_level, <span class="keywordtype">float</span> min_range, <span class="keywordtype">int</span> border_size)</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;{</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;  <span class="comment">//MEASURE_FUNCTION_TIME;</span></div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;  </div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;  <span class="comment">//std::cout &lt;&lt; &quot;Starting to create range image from &quot;&lt;&lt;point_cloud.points.size ()&lt;&lt;&quot; points.\n&quot;;</span></div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;  </div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;  <span class="comment">// If the sensor pose is inside of the sphere we have to calculate the image the normal way</span></div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;  <span class="keywordflow">if</span> ((point_cloud_center-sensor_pose.translation()).norm() &lt;= point_cloud_radius) {</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;    <a class="code" href="classpcl_1_1_range_image.html#a82f6a143de2d73a0ad9fea6c527a2efb">createFromPointCloud</a> (point_cloud, angular_resolution_x, angular_resolution_y,</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;                          <a class="code" href="group__common.html#ga25b0ce695e2a10abb0130bcb5cf90eb6">pcl::deg2rad</a> (360.0f), <a class="code" href="group__common.html#ga25b0ce695e2a10abb0130bcb5cf90eb6">pcl::deg2rad</a> (180.0f),</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;                          sensor_pose, coordinate_frame, noise_level, min_range, border_size);</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;  }</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;  </div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;  <a class="code" href="classpcl_1_1_range_image.html#a2720450161caef9a2992b0ac943ab2b7">setAngularResolution</a> (angular_resolution_x, angular_resolution_y);</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;  </div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;  <a class="code" href="classpcl_1_1_range_image.html#af5c0908bfbe060fdb517728fe56b2c55">getCoordinateFrameTransformation</a> (coordinate_frame, <a class="code" href="classpcl_1_1_range_image.html#a31c36f147403c0f64e1c3a386b30e229">to_world_system_</a>);</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;  <a class="code" href="classpcl_1_1_range_image.html#a31c36f147403c0f64e1c3a386b30e229">to_world_system_</a> = sensor_pose * <a class="code" href="classpcl_1_1_range_image.html#a31c36f147403c0f64e1c3a386b30e229">to_world_system_</a>;</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;  <a class="code" href="classpcl_1_1_range_image.html#ada8177479f0e95999a66294db4c0c3eb">to_range_image_system_</a> = <a class="code" href="classpcl_1_1_range_image.html#a31c36f147403c0f64e1c3a386b30e229">to_world_system_</a>.inverse (Eigen::Isometry);</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;  </div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;  <span class="keywordtype">float</span> max_angle_size = <a class="code" href="classpcl_1_1_range_image.html#ac504743608967dcd142dc4249b82ea5a">getMaxAngleSize</a> (sensor_pose, point_cloud_center, point_cloud_radius);</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;  <span class="keywordtype">int</span> pixel_radius_x = pcl_lrint (ceil (0.5f*max_angle_size*<a class="code" href="classpcl_1_1_range_image.html#adbb1466576e6c2d08e3065b67da0b250">angular_resolution_x_reciprocal_</a>)),</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;      pixel_radius_y = pcl_lrint (ceil (0.5f*max_angle_size*<a class="code" href="classpcl_1_1_range_image.html#a843659230146a43690ee4d4fb53fcc92">angular_resolution_y_reciprocal_</a>));</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;  <a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>  = 2*pixel_radius_x;</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;  <a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a> = 2*pixel_radius_y;</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;  <a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a> = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;  </div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;  image_offset_x_ = <a class="code" href="classpcl_1_1_range_image.html#a1518af9f1c9eb6ac259be92824842e23">image_offset_y_</a> = 0;  <span class="comment">// temporary values for getImagePoint</span></div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;  <span class="keywordtype">int</span> center_pixel_x, center_pixel_y;</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;  <a class="code" href="classpcl_1_1_range_image.html#a7a53bfc9f4a3365ee8e62513ae37eb5c">getImagePoint</a> (point_cloud_center, center_pixel_x, center_pixel_y);</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;  image_offset_x_ = (std::max) (0, center_pixel_x-pixel_radius_x);</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;  <a class="code" href="classpcl_1_1_range_image.html#a1518af9f1c9eb6ac259be92824842e23">image_offset_y_</a> = (std::max) (0, center_pixel_y-pixel_radius_y);</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160; </div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;  <a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.clear ();</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;  <a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.resize (<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>*<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a>, <a class="code" href="classpcl_1_1_range_image.html#a51bf019906a3256038561354d6b95885">unobserved_point</a>);</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;  </div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;  <span class="keywordtype">int</span> top=<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a>, right=-1, bottom=-1, left=<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>;</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;  <a class="code" href="classpcl_1_1_range_image.html#a56655a55b4c83c7ce301ca0f020759b4">doZBuffer</a> (point_cloud, noise_level, min_range, top, right, bottom, left);</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;  </div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;  <a class="code" href="classpcl_1_1_range_image.html#a20f223d93080e9ce32122f90a265f7c4">cropImage</a> (border_size, top, right, bottom, left);</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;  </div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;  <a class="code" href="classpcl_1_1_range_image.html#a08d6ccfef80c3788102327df618a3fbf">recalculate3DPointPositions</a> ();</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;}</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160; </div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>CloudTypeWithViewpo<span class="keywordtype">int</span>s&gt; <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00203"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image.html#a91cb7406e0e57923a7f5d533ea578c0f">  203</a></span>&#160;<a class="code" href="classpcl_1_1_range_image.html#a91cb7406e0e57923a7f5d533ea578c0f">RangeImage::createFromPointCloudWithViewpoints</a> (<span class="keyword">const</span> PointCloudTypeWithViewpoints&amp; point_cloud,</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;                                                <span class="keywordtype">float</span> angular_resolution,</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;                                                <span class="keywordtype">float</span> max_angle_width, <span class="keywordtype">float</span> max_angle_height,</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;                                                RangeImage::CoordinateFrame coordinate_frame,</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;                                                <span class="keywordtype">float</span> noise_level, <span class="keywordtype">float</span> min_range, <span class="keywordtype">int</span> border_size)</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;{</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;  <a class="code" href="classpcl_1_1_range_image.html#a91cb7406e0e57923a7f5d533ea578c0f">createFromPointCloudWithViewpoints</a> (point_cloud, angular_resolution, angular_resolution,</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;                                      max_angle_width, max_angle_height, coordinate_frame,</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;                                      noise_level, min_range, border_size);</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;}</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160; </div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>CloudTypeWithViewpo<span class="keywordtype">int</span>s&gt; <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00216"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image.html#a66de72c9511e694d41bd7a48c043f541">  216</a></span>&#160;<a class="code" href="classpcl_1_1_range_image.html#a91cb7406e0e57923a7f5d533ea578c0f">RangeImage::createFromPointCloudWithViewpoints</a> (<span class="keyword">const</span> PointCloudTypeWithViewpoints&amp; point_cloud,</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;                                                <span class="keywordtype">float</span> angular_resolution_x, <span class="keywordtype">float</span> angular_resolution_y,</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;                                                <span class="keywordtype">float</span> max_angle_width, <span class="keywordtype">float</span> max_angle_height,</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;                                                RangeImage::CoordinateFrame coordinate_frame,</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;                                                <span class="keywordtype">float</span> noise_level, <span class="keywordtype">float</span> min_range, <span class="keywordtype">int</span> border_size)</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;{</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;  Eigen::Vector3f average_viewpoint = <a class="code" href="classpcl_1_1_range_image.html#a49c425d518d92def18300cd029ae1855">getAverageViewPoint</a> (point_cloud);</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;  Eigen::Affine3f sensor_pose = <span class="keyword">static_cast&lt;</span>Eigen::Affine3f<span class="keyword">&gt;</span> (Eigen::Translation3f (average_viewpoint));</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;  <a class="code" href="classpcl_1_1_range_image.html#a82f6a143de2d73a0ad9fea6c527a2efb">createFromPointCloud</a> (point_cloud, angular_resolution_x, angular_resolution_y, max_angle_width, max_angle_height,</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;                        sensor_pose, coordinate_frame, noise_level, min_range, border_size);</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;}</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160; </div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>CloudType&gt; <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00230"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image.html#a56655a55b4c83c7ce301ca0f020759b4">  230</a></span>&#160;<a class="code" href="classpcl_1_1_range_image.html#a56655a55b4c83c7ce301ca0f020759b4">RangeImage::doZBuffer</a> (<span class="keyword">const</span> PointCloudType&amp; point_cloud, <span class="keywordtype">float</span> noise_level, <span class="keywordtype">float</span> min_range, <span class="keywordtype">int</span>&amp; top, <span class="keywordtype">int</span>&amp; right, <span class="keywordtype">int</span>&amp; bottom, <span class="keywordtype">int</span>&amp; left)</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;{</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;  <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudType::PointType PointType2;</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;  <span class="keyword">const</span> <span class="keyword">typename</span> pcl::PointCloud&lt;PointType2&gt;::VectorType &amp;points2 = point_cloud.points;</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;  </div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> size = <a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>*<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a>;</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;  <span class="keywordtype">int</span>* counters = <span class="keyword">new</span> <span class="keywordtype">int</span>[size];</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;  ERASE_ARRAY (counters, size);</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;  </div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;  top=<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a>; right=-1; bottom=-1; left=<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>;</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;  </div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;  <span class="keywordtype">float</span> x_real, y_real, range_of_current_point;</div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;  <span class="keywordtype">int</span> x, y;</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;  <span class="keywordflow">for</span> (<span class="keyword">typename</span> pcl::PointCloud&lt;PointType2&gt;::VectorType::const_iterator it=points2.begin (); it!=points2.end (); ++it)</div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;  {</div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;    <span class="keywordflow">if</span> (!isFinite (*it))  <span class="comment">// Check for NAN etc</span></div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;      <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;    Vector3fMapConst current_point = it-&gt;getVector3fMap ();</div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;    </div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;    this-&gt;<a class="code" href="classpcl_1_1_range_image.html#a7a53bfc9f4a3365ee8e62513ae37eb5c">getImagePoint</a> (current_point, x_real, y_real, range_of_current_point);</div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;    this-&gt;<a class="code" href="classpcl_1_1_range_image.html#a86174b766aa77898e0d49ef11f4613b1">real2DToInt2D</a> (x_real, y_real, x, y);</div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;    </div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;    <span class="keywordflow">if</span> (range_of_current_point &lt; min_range|| !<a class="code" href="classpcl_1_1_range_image.html#a824a6bb27b43a174da775a656b81a483">isInImage</a> (x, y))</div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;      <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;    <span class="comment">//std::cout &lt;&lt; &quot; (&quot;&lt;&lt;current_point[0]&lt;&lt;&quot;, &quot;&lt;&lt;current_point[1]&lt;&lt;&quot;, &quot;&lt;&lt;current_point[2]&lt;&lt;&quot;) falls into pixel &quot;&lt;&lt;x&lt;&lt;&quot;,&quot;&lt;&lt;y&lt;&lt;&quot;.\n&quot;;</span></div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;    </div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;    <span class="comment">// Do some minor interpolation by checking the three closest neighbors to the point, that are not filled yet.</span></div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;    <span class="keywordtype">int</span> floor_x = pcl_lrint (floor (x_real)), floor_y = pcl_lrint (floor (y_real)),</div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;        ceil_x  = pcl_lrint (ceil (x_real)),  ceil_y  = pcl_lrint (ceil (y_real));</div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;    </div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;    <span class="keywordtype">int</span> neighbor_x[4], neighbor_y[4];</div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;    neighbor_x[0]=floor_x; neighbor_y[0]=floor_y;</div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;    neighbor_x[1]=floor_x; neighbor_y[1]=ceil_y;</div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;    neighbor_x[2]=ceil_x;  neighbor_y[2]=floor_y;</div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;    neighbor_x[3]=ceil_x;  neighbor_y[3]=ceil_y;</div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;    <span class="comment">//std::cout &lt;&lt; x_real&lt;&lt;&quot;,&quot;&lt;&lt;y_real&lt;&lt;&quot;: &quot;;</span></div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;    </div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i=0; i&lt;4; ++i)</div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;    {</div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;      <span class="keywordtype">int</span> n_x=neighbor_x[i], n_y=neighbor_y[i];</div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;      <span class="comment">//std::cout &lt;&lt; n_x&lt;&lt;&quot;,&quot;&lt;&lt;n_y&lt;&lt;&quot; &quot;;</span></div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;      <span class="keywordflow">if</span> (n_x==x &amp;&amp; n_y==y)</div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;        <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;      <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1_range_image.html#a824a6bb27b43a174da775a656b81a483">isInImage</a> (n_x, n_y))</div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;      {</div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;        <span class="keywordtype">int</span> neighbor_array_pos = n_y*<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> + n_x;</div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;        <span class="keywordflow">if</span> (counters[neighbor_array_pos]==0)</div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;        {</div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;          <span class="keywordtype">float</span>&amp; neighbor_range = <a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[neighbor_array_pos].range;</div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;          neighbor_range = (pcl_isinf (neighbor_range) ? range_of_current_point : (std::min) (neighbor_range, range_of_current_point));</div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;          top= (std::min) (top, n_y); right= (std::max) (right, n_x); bottom= (std::max) (bottom, n_y); left= (std::min) (left, n_x);</div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;        }</div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;      }</div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;    }</div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;    <span class="comment">//std::cout &lt;&lt;std::endl;</span></div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;    </div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;    <span class="comment">// The point itself</span></div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;    <span class="keywordtype">int</span> arrayPos = y*<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> + x;</div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;    <span class="keywordtype">float</span>&amp; range_at_image_point = <a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[arrayPos].range;</div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;    <span class="keywordtype">int</span>&amp; counter = counters[arrayPos];</div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;    <span class="keywordtype">bool</span> addCurrentPoint=<span class="keyword">false</span>, replace_with_current_point=<span class="keyword">false</span>;</div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;    </div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;    <span class="keywordflow">if</span> (counter==0)</div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;    {</div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;      replace_with_current_point = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;    }</div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;    {</div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;      <span class="keywordflow">if</span> (range_of_current_point &lt; range_at_image_point-noise_level)</div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;      {</div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;        replace_with_current_point = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;      }</div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;      <span class="keywordflow">else</span> <span class="keywordflow">if</span> (fabs (range_of_current_point-range_at_image_point)&lt;=noise_level)</div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;      {</div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;        addCurrentPoint = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;      }</div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;    }</div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;    </div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;    <span class="keywordflow">if</span> (replace_with_current_point)</div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;    {</div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;      counter = 1;</div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;      range_at_image_point = range_of_current_point;</div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;      top= (std::min) (top, y); right= (std::max) (right, x); bottom= (std::max) (bottom, y); left= (std::min) (left, x);</div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;      <span class="comment">//std::cout &lt;&lt; &quot;Adding point &quot;&lt;&lt;x&lt;&lt;&quot;,&quot;&lt;&lt;y&lt;&lt;&quot;\n&quot;;</span></div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;    }</div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;    <span class="keywordflow">else</span> <span class="keywordflow">if</span> (addCurrentPoint)</div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;    {</div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;      ++counter;</div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;      range_at_image_point += (range_of_current_point-range_at_image_point)/counter;</div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;    }</div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;  }</div>
<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;  </div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;  <span class="keyword">delete</span>[] counters;</div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;}</div>
<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160; </div>
<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;<span class="keywordtype">void</span> </div>
<div class="line"><a name="l00327"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image.html#a09c81c4b4ffd68fc5742167d15f6af87">  327</a></span>&#160;<a class="code" href="classpcl_1_1_range_image.html#a7a53bfc9f4a3365ee8e62513ae37eb5c">RangeImage::getImagePoint</a> (<span class="keywordtype">float</span> x, <span class="keywordtype">float</span> y, <span class="keywordtype">float</span> z, <span class="keywordtype">float</span>&amp; image_x, <span class="keywordtype">float</span>&amp; image_y, <span class="keywordtype">float</span>&amp; range)<span class="keyword"> const </span></div>
<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;  Eigen::Vector3f point (x, y, z);</div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;  <a class="code" href="classpcl_1_1_range_image.html#a7a53bfc9f4a3365ee8e62513ae37eb5c">getImagePoint</a> (point, image_x, image_y, range);</div>
<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;}</div>
<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160; </div>
<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;<span class="keywordtype">void</span> </div>
<div class="line"><a name="l00335"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image.html#a8123412373a87d5030ee5f8a9b3ba3e4">  335</a></span>&#160;<a class="code" href="classpcl_1_1_range_image.html#a7a53bfc9f4a3365ee8e62513ae37eb5c">RangeImage::getImagePoint</a> (<span class="keywordtype">float</span> x, <span class="keywordtype">float</span> y, <span class="keywordtype">float</span> z, <span class="keywordtype">float</span>&amp; image_x, <span class="keywordtype">float</span>&amp; image_y)<span class="keyword"> const </span></div>
<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;  <span class="keywordtype">float</span> range;</div>
<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;  <a class="code" href="classpcl_1_1_range_image.html#a7a53bfc9f4a3365ee8e62513ae37eb5c">getImagePoint</a> (x, y, z, image_x, image_y, range);</div>
<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;}</div>
<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160; </div>
<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;<span class="keywordtype">void</span> </div>
<div class="line"><a name="l00343"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image.html#a2ba0bfce9adcf8161feec7c59f75082c">  343</a></span>&#160;<a class="code" href="classpcl_1_1_range_image.html#a7a53bfc9f4a3365ee8e62513ae37eb5c">RangeImage::getImagePoint</a> (<span class="keywordtype">float</span> x, <span class="keywordtype">float</span> y, <span class="keywordtype">float</span> z, <span class="keywordtype">int</span>&amp; image_x, <span class="keywordtype">int</span>&amp; image_y)<span class="keyword"> const </span></div>
<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;  <span class="keywordtype">float</span> image_x_float, image_y_float;</div>
<div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160;  <a class="code" href="classpcl_1_1_range_image.html#a7a53bfc9f4a3365ee8e62513ae37eb5c">getImagePoint</a> (x, y, z, image_x_float, image_y_float);</div>
<div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;  <a class="code" href="classpcl_1_1_range_image.html#a86174b766aa77898e0d49ef11f4613b1">real2DToInt2D</a> (image_x_float, image_y_float, image_x, image_y);</div>
<div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160;}</div>
<div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160; </div>
<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;<span class="keywordtype">void</span> </div>
<div class="line"><a name="l00352"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image.html#a7a53bfc9f4a3365ee8e62513ae37eb5c">  352</a></span>&#160;<a class="code" href="classpcl_1_1_range_image.html#a7a53bfc9f4a3365ee8e62513ae37eb5c">RangeImage::getImagePoint</a> (<span class="keyword">const</span> Eigen::Vector3f&amp; point, <span class="keywordtype">float</span>&amp; image_x, <span class="keywordtype">float</span>&amp; image_y, <span class="keywordtype">float</span>&amp; range)<span class="keyword"> const </span></div>
<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160;  Eigen::Vector3f transformedPoint = <a class="code" href="classpcl_1_1_range_image.html#ada8177479f0e95999a66294db4c0c3eb">to_range_image_system_</a> * point;</div>
<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;  range = transformedPoint.norm ();</div>
<div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160;  <span class="keywordtype">float</span> angle_x = <a class="code" href="classpcl_1_1_range_image.html#a17835570c515cca3ba1ecd0f132bf013">atan2LookUp</a> (transformedPoint[0], transformedPoint[2]),</div>
<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;        angle_y = <a class="code" href="classpcl_1_1_range_image.html#a6cb20514cdc04674448a5e5c6cb373bc">asinLookUp</a> (transformedPoint[1]/range);</div>
<div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160;  <a class="code" href="classpcl_1_1_range_image.html#adfd931443541e194f1c53d5f7b1c43e6">getImagePointFromAngles</a> (angle_x, angle_y, image_x, image_y);</div>
<div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160;  <span class="comment">//std::cout &lt;&lt; &quot; (&quot;&lt;&lt;point[0]&lt;&lt;&quot;,&quot;&lt;&lt;point[1]&lt;&lt;&quot;,&quot;&lt;&lt;point[2]&lt;&lt;&quot;)&quot;</span></div>
<div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160;            <span class="comment">//&lt;&lt; &quot; =&gt; (&quot;&lt;&lt;transformedPoint[0]&lt;&lt;&quot;,&quot;&lt;&lt;transformedPoint[1]&lt;&lt;&quot;,&quot;&lt;&lt;transformedPoint[2]&lt;&lt;&quot;)&quot;</span></div>
<div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160;            <span class="comment">//&lt;&lt; &quot; =&gt; &quot;&lt;&lt;angle_x&lt;&lt;&quot;,&quot;&lt;&lt;angle_y&lt;&lt;&quot; =&gt; &quot;&lt;&lt;image_x&lt;&lt;&quot;,&quot;&lt;&lt;image_y&lt;&lt;&quot;\n&quot;;</span></div>
<div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160;}</div>
<div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160; </div>
<div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160;<span class="keywordtype">void</span> </div>
<div class="line"><a name="l00366"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image.html#a9295b795c8f52a90eb3af983612fea8a">  366</a></span>&#160;<a class="code" href="classpcl_1_1_range_image.html#a7a53bfc9f4a3365ee8e62513ae37eb5c">RangeImage::getImagePoint</a> (<span class="keyword">const</span> Eigen::Vector3f&amp; point, <span class="keywordtype">int</span>&amp; image_x, <span class="keywordtype">int</span>&amp; image_y, <span class="keywordtype">float</span>&amp; range)<span class="keyword"> const </span>{</div>
<div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160;  <span class="keywordtype">float</span> image_x_float, image_y_float;</div>
<div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160;  <a class="code" href="classpcl_1_1_range_image.html#a7a53bfc9f4a3365ee8e62513ae37eb5c">getImagePoint</a> (point, image_x_float, image_y_float, range);</div>
<div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160;  <a class="code" href="classpcl_1_1_range_image.html#a86174b766aa77898e0d49ef11f4613b1">real2DToInt2D</a> (image_x_float, image_y_float, image_x, image_y);</div>
<div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160;}</div>
<div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160; </div>
<div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160;<span class="keywordtype">void</span> </div>
<div class="line"><a name="l00374"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image.html#a8b9b678a491ddefc1109494157e0aa83">  374</a></span>&#160;<a class="code" href="classpcl_1_1_range_image.html#a7a53bfc9f4a3365ee8e62513ae37eb5c">RangeImage::getImagePoint</a> (<span class="keyword">const</span> Eigen::Vector3f&amp; point, <span class="keywordtype">float</span>&amp; image_x, <span class="keywordtype">float</span>&amp; image_y)<span class="keyword"> const</span></div>
<div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160;  <span class="keywordtype">float</span> range;</div>
<div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160;  <a class="code" href="classpcl_1_1_range_image.html#a7a53bfc9f4a3365ee8e62513ae37eb5c">getImagePoint</a> (point, image_x, image_y, range);</div>
<div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160;}</div>
<div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160; </div>
<div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160;<span class="keywordtype">void</span> </div>
<div class="line"><a name="l00382"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image.html#aac7ef90b9c78876a492fd16701d6578e">  382</a></span>&#160;<a class="code" href="classpcl_1_1_range_image.html#a7a53bfc9f4a3365ee8e62513ae37eb5c">RangeImage::getImagePoint</a> (<span class="keyword">const</span> Eigen::Vector3f&amp; point, <span class="keywordtype">int</span>&amp; image_x, <span class="keywordtype">int</span>&amp; image_y)<span class="keyword"> const</span></div>
<div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160;  <span class="keywordtype">float</span> image_x_float, image_y_float;</div>
<div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160;  <a class="code" href="classpcl_1_1_range_image.html#a7a53bfc9f4a3365ee8e62513ae37eb5c">getImagePoint</a> (point, image_x_float, image_y_float);</div>
<div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160;  <a class="code" href="classpcl_1_1_range_image.html#a86174b766aa77898e0d49ef11f4613b1">real2DToInt2D</a> (image_x_float, image_y_float, image_x, image_y);</div>
<div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160;}</div>
<div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160; </div>
<div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160;<span class="keywordtype">float</span> </div>
<div class="line"><a name="l00391"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image.html#a3e63aa0e7dc143f4a4a15611edcede70">  391</a></span>&#160;<a class="code" href="classpcl_1_1_range_image.html#a3e63aa0e7dc143f4a4a15611edcede70">RangeImage::checkPoint</a> (<span class="keyword">const</span> Eigen::Vector3f&amp; point, <a class="code" href="structpcl_1_1_point_with_range.html">PointWithRange</a>&amp; point_in_image)<span class="keyword"> const</span></div>
<div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160;  <span class="keywordtype">int</span> image_x, image_y;</div>
<div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160;  <span class="keywordtype">float</span> range;</div>
<div class="line"><a name="l00395"></a><span class="lineno">  395</span>&#160;  <a class="code" href="classpcl_1_1_range_image.html#a7a53bfc9f4a3365ee8e62513ae37eb5c">getImagePoint</a> (point, image_x, image_y, range);</div>
<div class="line"><a name="l00396"></a><span class="lineno">  396</span>&#160;  <span class="keywordflow">if</span> (!<a class="code" href="classpcl_1_1_range_image.html#a824a6bb27b43a174da775a656b81a483">isInImage</a> (image_x, image_y))</div>
<div class="line"><a name="l00397"></a><span class="lineno">  397</span>&#160;    point_in_image = <a class="code" href="classpcl_1_1_range_image.html#a51bf019906a3256038561354d6b95885">unobserved_point</a>;</div>
<div class="line"><a name="l00398"></a><span class="lineno">  398</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00399"></a><span class="lineno">  399</span>&#160;    point_in_image = <a class="code" href="classpcl_1_1_range_image.html#a52164736793c99cc9fc48dedee615e45">getPoint</a> (image_x, image_y);</div>
<div class="line"><a name="l00400"></a><span class="lineno">  400</span>&#160;  <span class="keywordflow">return</span> range;</div>
<div class="line"><a name="l00401"></a><span class="lineno">  401</span>&#160;}</div>
<div class="line"><a name="l00402"></a><span class="lineno">  402</span>&#160; </div>
<div class="line"><a name="l00404"></a><span class="lineno">  404</span>&#160;<span class="keywordtype">float</span> </div>
<div class="line"><a name="l00405"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image.html#aea43fc18a9695437879d4b3b3860a9ae">  405</a></span>&#160;<a class="code" href="classpcl_1_1_range_image.html#aea43fc18a9695437879d4b3b3860a9ae">RangeImage::getRangeDifference</a> (<span class="keyword">const</span> Eigen::Vector3f&amp; point)<span class="keyword"> const</span></div>
<div class="line"><a name="l00406"></a><span class="lineno">  406</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00407"></a><span class="lineno">  407</span>&#160;  <span class="keywordtype">int</span> image_x, image_y;</div>
<div class="line"><a name="l00408"></a><span class="lineno">  408</span>&#160;  <span class="keywordtype">float</span> range;</div>
<div class="line"><a name="l00409"></a><span class="lineno">  409</span>&#160;  <a class="code" href="classpcl_1_1_range_image.html#a7a53bfc9f4a3365ee8e62513ae37eb5c">getImagePoint</a> (point, image_x, image_y, range);</div>
<div class="line"><a name="l00410"></a><span class="lineno">  410</span>&#160;  <span class="keywordflow">if</span> (!<a class="code" href="classpcl_1_1_range_image.html#a824a6bb27b43a174da775a656b81a483">isInImage</a> (image_x, image_y))</div>
<div class="line"><a name="l00411"></a><span class="lineno">  411</span>&#160;    <span class="keywordflow">return</span> -std::numeric_limits&lt;float&gt;::infinity ();</div>
<div class="line"><a name="l00412"></a><span class="lineno">  412</span>&#160;  <span class="keywordtype">float</span> image_point_range = <a class="code" href="classpcl_1_1_range_image.html#a52164736793c99cc9fc48dedee615e45">getPoint</a> (image_x, image_y).range;</div>
<div class="line"><a name="l00413"></a><span class="lineno">  413</span>&#160;  <span class="keywordflow">if</span> (pcl_isinf (image_point_range))</div>
<div class="line"><a name="l00414"></a><span class="lineno">  414</span>&#160;  {</div>
<div class="line"><a name="l00415"></a><span class="lineno">  415</span>&#160;    <span class="keywordflow">if</span> (image_point_range &gt; 0.0f)</div>
<div class="line"><a name="l00416"></a><span class="lineno">  416</span>&#160;      <span class="keywordflow">return</span> std::numeric_limits&lt;float&gt;::infinity ();</div>
<div class="line"><a name="l00417"></a><span class="lineno">  417</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l00418"></a><span class="lineno">  418</span>&#160;      <span class="keywordflow">return</span> -std::numeric_limits&lt;float&gt;::infinity ();</div>
<div class="line"><a name="l00419"></a><span class="lineno">  419</span>&#160;  }</div>
<div class="line"><a name="l00420"></a><span class="lineno">  420</span>&#160;  <span class="keywordflow">return</span> image_point_range - range;</div>
<div class="line"><a name="l00421"></a><span class="lineno">  421</span>&#160;}</div>
<div class="line"><a name="l00422"></a><span class="lineno">  422</span>&#160; </div>
<div class="line"><a name="l00424"></a><span class="lineno">  424</span>&#160;<span class="keywordtype">void</span> </div>
<div class="line"><a name="l00425"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image.html#adfd931443541e194f1c53d5f7b1c43e6">  425</a></span>&#160;<a class="code" href="classpcl_1_1_range_image.html#adfd931443541e194f1c53d5f7b1c43e6">RangeImage::getImagePointFromAngles</a> (<span class="keywordtype">float</span> angle_x, <span class="keywordtype">float</span> angle_y, <span class="keywordtype">float</span>&amp; image_x, <span class="keywordtype">float</span>&amp; image_y)<span class="keyword"> const</span></div>
<div class="line"><a name="l00426"></a><span class="lineno">  426</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00427"></a><span class="lineno">  427</span>&#160;  image_x = (angle_x*<a class="code" href="classpcl_1_1_range_image.html#a29ab1f1088b1c8d111dfe02139882ded">cosLookUp</a> (angle_y) + <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (M_PI))*<a class="code" href="classpcl_1_1_range_image.html#adbb1466576e6c2d08e3065b67da0b250">angular_resolution_x_reciprocal_</a> - <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (image_offset_x_);</div>
<div class="line"><a name="l00428"></a><span class="lineno">  428</span>&#160;  image_y = (angle_y + 0.5f*<span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (M_PI))*<a class="code" href="classpcl_1_1_range_image.html#a843659230146a43690ee4d4fb53fcc92">angular_resolution_y_reciprocal_</a> - <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (<a class="code" href="classpcl_1_1_range_image.html#a1518af9f1c9eb6ac259be92824842e23">image_offset_y_</a>);</div>
<div class="line"><a name="l00429"></a><span class="lineno">  429</span>&#160;}</div>
<div class="line"><a name="l00430"></a><span class="lineno">  430</span>&#160; </div>
<div class="line"><a name="l00432"></a><span class="lineno">  432</span>&#160;<span class="keywordtype">void</span> </div>
<div class="line"><a name="l00433"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image.html#a86174b766aa77898e0d49ef11f4613b1">  433</a></span>&#160;<a class="code" href="classpcl_1_1_range_image.html#a86174b766aa77898e0d49ef11f4613b1">RangeImage::real2DToInt2D</a> (<span class="keywordtype">float</span> x, <span class="keywordtype">float</span> y, <span class="keywordtype">int</span>&amp; xInt, <span class="keywordtype">int</span>&amp; yInt)<span class="keyword"> const</span></div>
<div class="line"><a name="l00434"></a><span class="lineno">  434</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00435"></a><span class="lineno">  435</span>&#160;  xInt = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (pcl_lrintf (x)); </div>
<div class="line"><a name="l00436"></a><span class="lineno">  436</span>&#160;  yInt = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (pcl_lrintf (y));</div>
<div class="line"><a name="l00437"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image_planar.html#a1acc16b4b5fb7071175bada62a5b75d0">  437</a></span>&#160;}</div>
<div class="line"><a name="l00438"></a><span class="lineno">  438</span>&#160; </div>
<div class="line"><a name="l00440"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image_planar.html#a0f969bd0149b7848f0f26b44bb88035c">  440</a></span>&#160;<span class="keywordtype">bool</span> </div>
<div class="line"><a name="l00441"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image.html#a824a6bb27b43a174da775a656b81a483">  441</a></span>&#160;<a class="code" href="classpcl_1_1_range_image.html#a824a6bb27b43a174da775a656b81a483">RangeImage::isInImage</a> (<span class="keywordtype">int</span> x, <span class="keywordtype">int</span> y)<span class="keyword"> const</span></div>
<div class="line"><a name="l00442"></a><span class="lineno">  442</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00443"></a><span class="lineno">  443</span>&#160;  <span class="keywordflow">return</span> (x &gt;= 0 &amp;&amp; x &lt; <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>) &amp;&amp; y &gt;= 0 &amp;&amp; y &lt; <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a>));</div>
<div class="line"><a name="l00444"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image_planar.html#aa9e97e7487ac21a77075b5f8b64ca205">  444</a></span>&#160;}</div>
<div class="line"><a name="l00445"></a><span class="lineno">  445</span>&#160; </div>
<div class="line"><a name="l00447"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image_planar.html#abbb77866cf4ee5d2a619f4f8cc62cc9b">  447</a></span>&#160;<span class="keywordtype">bool</span> </div>
<div class="line"><a name="l00448"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image.html#a2372989721c3c119bb5d4b5ebd9b59c3">  448</a></span>&#160;<a class="code" href="classpcl_1_1_range_image.html#a2372989721c3c119bb5d4b5ebd9b59c3">RangeImage::isValid</a> (<span class="keywordtype">int</span> x, <span class="keywordtype">int</span> y)<span class="keyword"> const</span></div>
<div class="line"><a name="l00449"></a><span class="lineno">  449</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00450"></a><span class="lineno">  450</span>&#160;  <span class="keywordflow">return</span> <a class="code" href="classpcl_1_1_range_image.html#a824a6bb27b43a174da775a656b81a483">isInImage</a> (x,y) &amp;&amp; pcl_isfinite (<a class="code" href="classpcl_1_1_range_image.html#a52164736793c99cc9fc48dedee615e45">getPoint</a> (x,y).range);</div>
<div class="line"><a name="l00451"></a><span class="lineno">  451</span>&#160;}</div>
<div class="line"><a name="l00452"></a><span class="lineno">  452</span>&#160; </div>
<div class="line"><a name="l00454"></a><span class="lineno">  454</span>&#160;<span class="keywordtype">bool</span> </div>
<div class="line"><a name="l00455"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image_planar.html#a7a53bfc9f4a3365ee8e62513ae37eb5c">  455</a></span>&#160;<a class="code" href="classpcl_1_1_range_image.html#a2372989721c3c119bb5d4b5ebd9b59c3">RangeImage::isValid</a> (<span class="keywordtype">int</span> index)<span class="keyword"> const</span></div>
<div class="line"><a name="l00456"></a><span class="lineno">  456</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00457"></a><span class="lineno">  457</span>&#160;  <span class="keywordflow">return</span> pcl_isfinite (<a class="code" href="classpcl_1_1_range_image.html#a52164736793c99cc9fc48dedee615e45">getPoint</a> (index).range);</div>
<div class="line"><a name="l00458"></a><span class="lineno">  458</span>&#160;}</div>
<div class="line"><a name="l00459"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image_planar.html#a9295b795c8f52a90eb3af983612fea8a">  459</a></span>&#160; </div>
<div class="line"><a name="l00461"></a><span class="lineno">  461</span>&#160;<span class="keywordtype">bool</span> </div>
<div class="line"><a name="l00462"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image.html#a75e51885e151759d815ec1b1b72ea4ff">  462</a></span>&#160;<a class="code" href="classpcl_1_1_range_image.html#a75e51885e151759d815ec1b1b72ea4ff">RangeImage::isObserved</a> (<span class="keywordtype">int</span> x, <span class="keywordtype">int</span> y)<span class="keyword"> const</span></div>
<div class="line"><a name="l00463"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image_planar.html#a8b9b678a491ddefc1109494157e0aa83">  463</a></span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00464"></a><span class="lineno">  464</span>&#160;  <span class="keywordflow">if</span> (!<a class="code" href="classpcl_1_1_range_image.html#a824a6bb27b43a174da775a656b81a483">isInImage</a> (x,y) || (pcl_isinf (<a class="code" href="classpcl_1_1_range_image.html#a52164736793c99cc9fc48dedee615e45">getPoint</a> (x,y).range)&amp;&amp;<a class="code" href="classpcl_1_1_range_image.html#a52164736793c99cc9fc48dedee615e45">getPoint</a> (x,y).range&lt;0.0f))</div>
<div class="line"><a name="l00465"></a><span class="lineno">  465</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a name="l00466"></a><span class="lineno">  466</span>&#160;  <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
<div class="line"><a name="l00467"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image_planar.html#aac7ef90b9c78876a492fd16701d6578e">  467</a></span>&#160;}</div>
<div class="line"><a name="l00468"></a><span class="lineno">  468</span>&#160; </div>
<div class="line"><a name="l00470"></a><span class="lineno">  470</span>&#160;<span class="keywordtype">bool</span> </div>
<div class="line"><a name="l00471"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image_planar.html#a09c81c4b4ffd68fc5742167d15f6af87">  471</a></span>&#160;<a class="code" href="classpcl_1_1_range_image.html#a771ab2f1ee2952a319da20301b27ab3b">RangeImage::isMaxRange</a> (<span class="keywordtype">int</span> x, <span class="keywordtype">int</span> y)<span class="keyword"> const</span></div>
<div class="line"><a name="l00472"></a><span class="lineno">  472</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00473"></a><span class="lineno">  473</span>&#160;  <span class="keywordtype">float</span> range = <a class="code" href="classpcl_1_1_range_image.html#a52164736793c99cc9fc48dedee615e45">getPoint</a> (x,y).range;</div>
<div class="line"><a name="l00474"></a><span class="lineno">  474</span>&#160;  <span class="keywordflow">return</span> pcl_isinf (range) &amp;&amp; range&gt;0.0f;</div>
<div class="line"><a name="l00475"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image_planar.html#a8123412373a87d5030ee5f8a9b3ba3e4">  475</a></span>&#160;}</div>
<div class="line"><a name="l00476"></a><span class="lineno">  476</span>&#160; </div>
<div class="line"><a name="l00478"></a><span class="lineno">  478</span>&#160;<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_with_range.html">PointWithRange</a>&amp; </div>
<div class="line"><a name="l00479"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image_planar.html#a2ba0bfce9adcf8161feec7c59f75082c">  479</a></span>&#160;<a class="code" href="classpcl_1_1_range_image.html#a52164736793c99cc9fc48dedee615e45">RangeImage::getPoint</a> (<span class="keywordtype">int</span> image_x, <span class="keywordtype">int</span> image_y)<span class="keyword"> const</span></div>
<div class="line"><a name="l00480"></a><span class="lineno">  480</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00481"></a><span class="lineno">  481</span>&#160;  <span class="keywordflow">if</span> (!<a class="code" href="classpcl_1_1_range_image.html#a824a6bb27b43a174da775a656b81a483">isInImage</a> (image_x, image_y))</div>
<div class="line"><a name="l00482"></a><span class="lineno">  482</span>&#160;    <span class="keywordflow">return</span> <a class="code" href="classpcl_1_1_range_image.html#a51bf019906a3256038561354d6b95885">unobserved_point</a>;</div>
<div class="line"><a name="l00483"></a><span class="lineno">  483</span>&#160;  <span class="keywordflow">return</span> <a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[image_y*<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> + image_x];</div>
<div class="line"><a name="l00484"></a><span class="lineno">  484</span>&#160;}</div>
<div class="line"><a name="l00485"></a><span class="lineno">  485</span>&#160; </div>
<div class="line"><a name="l00487"></a><span class="lineno">  487</span>&#160;<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_with_range.html">PointWithRange</a>&amp; </div>
<div class="line"><a name="l00488"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image.html#a587663a5b4123f4c423c9e38a9b36d41">  488</a></span>&#160;<a class="code" href="classpcl_1_1_range_image.html#a587663a5b4123f4c423c9e38a9b36d41">RangeImage::getPointNoCheck</a> (<span class="keywordtype">int</span> image_x, <span class="keywordtype">int</span> image_y)<span class="keyword"> const</span></div>
<div class="line"><a name="l00489"></a><span class="lineno">  489</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00490"></a><span class="lineno">  490</span>&#160;  <span class="keywordflow">return</span> <a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[image_y*<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> + image_x];</div>
<div class="line"><a name="l00491"></a><span class="lineno">  491</span>&#160;}</div>
<div class="line"><a name="l00492"></a><span class="lineno">  492</span>&#160; </div>
<div class="line"><a name="l00494"></a><span class="lineno">  494</span>&#160;<a class="code" href="structpcl_1_1_point_with_range.html">PointWithRange</a>&amp; </div>
<div class="line"><a name="l00495"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image.html#a45bfd00007940d0043b8f1df43663d07">  495</a></span>&#160;<a class="code" href="classpcl_1_1_range_image.html#a587663a5b4123f4c423c9e38a9b36d41">RangeImage::getPointNoCheck</a> (<span class="keywordtype">int</span> image_x, <span class="keywordtype">int</span> image_y)</div>
<div class="line"><a name="l00496"></a><span class="lineno">  496</span>&#160;{</div>
<div class="line"><a name="l00497"></a><span class="lineno">  497</span>&#160;  <span class="keywordflow">return</span> <a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[image_y*<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> + image_x];</div>
<div class="line"><a name="l00498"></a><span class="lineno">  498</span>&#160;}</div>
<div class="line"><a name="l00499"></a><span class="lineno">  499</span>&#160; </div>
<div class="line"><a name="l00501"></a><span class="lineno">  501</span>&#160;<a class="code" href="structpcl_1_1_point_with_range.html">PointWithRange</a>&amp; </div>
<div class="line"><a name="l00502"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image.html#adb229f49ccf885517e905373372b00be">  502</a></span>&#160;<a class="code" href="classpcl_1_1_range_image.html#a52164736793c99cc9fc48dedee615e45">RangeImage::getPoint</a> (<span class="keywordtype">int</span> image_x, <span class="keywordtype">int</span> image_y)</div>
<div class="line"><a name="l00503"></a><span class="lineno">  503</span>&#160;{</div>
<div class="line"><a name="l00504"></a><span class="lineno">  504</span>&#160;  <span class="keywordflow">return</span> <a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[image_y*<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> + image_x];</div>
<div class="line"><a name="l00505"></a><span class="lineno">  505</span>&#160;}</div>
<div class="line"><a name="l00506"></a><span class="lineno">  506</span>&#160; </div>
<div class="line"><a name="l00507"></a><span class="lineno">  507</span>&#160; </div>
<div class="line"><a name="l00509"></a><span class="lineno">  509</span>&#160;<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_with_range.html">PointWithRange</a>&amp; </div>
<div class="line"><a name="l00510"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image.html#a467a03da34e4ffd323ae0f080ac85570">  510</a></span>&#160;<a class="code" href="classpcl_1_1_range_image.html#a52164736793c99cc9fc48dedee615e45">RangeImage::getPoint</a> (<span class="keywordtype">int</span> index)<span class="keyword"> const</span></div>
<div class="line"><a name="l00511"></a><span class="lineno">  511</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00512"></a><span class="lineno">  512</span>&#160;  <span class="keywordflow">return</span> <a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[index];</div>
<div class="line"><a name="l00513"></a><span class="lineno">  513</span>&#160;}</div>
<div class="line"><a name="l00514"></a><span class="lineno">  514</span>&#160; </div>
<div class="line"><a name="l00516"></a><span class="lineno">  516</span>&#160;<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_with_range.html">PointWithRange</a>&amp;</div>
<div class="line"><a name="l00517"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image.html#a0168934416e10ded1eb34d57123b8d37">  517</a></span>&#160;<a class="code" href="classpcl_1_1_range_image.html#a52164736793c99cc9fc48dedee615e45">RangeImage::getPoint</a> (<span class="keywordtype">float</span> image_x, <span class="keywordtype">float</span> image_y)<span class="keyword"> const</span></div>
<div class="line"><a name="l00518"></a><span class="lineno">  518</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00519"></a><span class="lineno">  519</span>&#160;  <span class="keywordtype">int</span> x, y;</div>
<div class="line"><a name="l00520"></a><span class="lineno">  520</span>&#160;  <a class="code" href="classpcl_1_1_range_image.html#a86174b766aa77898e0d49ef11f4613b1">real2DToInt2D</a> (image_x, image_y, x, y);</div>
<div class="line"><a name="l00521"></a><span class="lineno">  521</span>&#160;  <span class="keywordflow">return</span> <a class="code" href="classpcl_1_1_range_image.html#a52164736793c99cc9fc48dedee615e45">getPoint</a> (x, y);</div>
<div class="line"><a name="l00522"></a><span class="lineno">  522</span>&#160;}</div>
<div class="line"><a name="l00523"></a><span class="lineno">  523</span>&#160; </div>
<div class="line"><a name="l00525"></a><span class="lineno">  525</span>&#160;<a class="code" href="structpcl_1_1_point_with_range.html">PointWithRange</a>&amp; </div>
<div class="line"><a name="l00526"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image.html#aa403d6ee9c3d76a50b268204acab27ff">  526</a></span>&#160;<a class="code" href="classpcl_1_1_range_image.html#a52164736793c99cc9fc48dedee615e45">RangeImage::getPoint</a> (<span class="keywordtype">float</span> image_x, <span class="keywordtype">float</span> image_y)</div>
<div class="line"><a name="l00527"></a><span class="lineno">  527</span>&#160;{</div>
<div class="line"><a name="l00528"></a><span class="lineno">  528</span>&#160;  <span class="keywordtype">int</span> x, y;</div>
<div class="line"><a name="l00529"></a><span class="lineno">  529</span>&#160;  <a class="code" href="classpcl_1_1_range_image.html#a86174b766aa77898e0d49ef11f4613b1">real2DToInt2D</a> (image_x, image_y, x, y);</div>
<div class="line"><a name="l00530"></a><span class="lineno">  530</span>&#160;  <span class="keywordflow">return</span> <a class="code" href="classpcl_1_1_range_image.html#a52164736793c99cc9fc48dedee615e45">getPoint</a> (x, y);</div>
<div class="line"><a name="l00531"></a><span class="lineno">  531</span>&#160;}</div>
<div class="line"><a name="l00532"></a><span class="lineno">  532</span>&#160; </div>
<div class="line"><a name="l00534"></a><span class="lineno">  534</span>&#160;<span class="keywordtype">void</span> </div>
<div class="line"><a name="l00535"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image.html#a35a8dbb8cc328029a928b3cff4225d5b">  535</a></span>&#160;<a class="code" href="classpcl_1_1_range_image.html#a52164736793c99cc9fc48dedee615e45">RangeImage::getPoint</a> (<span class="keywordtype">int</span> image_x, <span class="keywordtype">int</span> image_y, Eigen::Vector3f&amp; point)<span class="keyword"> const</span></div>
<div class="line"><a name="l00536"></a><span class="lineno">  536</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00537"></a><span class="lineno">  537</span>&#160;  <span class="comment">//std::cout &lt;&lt; getPoint (image_x, image_y)&lt;&lt; &quot; - &quot; &lt;&lt; getPoint (image_x, image_y).getVector3fMap ()&lt;&lt;&quot;\n&quot;;</span></div>
<div class="line"><a name="l00538"></a><span class="lineno">  538</span>&#160;  point = <a class="code" href="classpcl_1_1_range_image.html#a52164736793c99cc9fc48dedee615e45">getPoint</a> (image_x, image_y).getVector3fMap ();</div>
<div class="line"><a name="l00539"></a><span class="lineno">  539</span>&#160;}</div>
<div class="line"><a name="l00540"></a><span class="lineno">  540</span>&#160; </div>
<div class="line"><a name="l00542"></a><span class="lineno">  542</span>&#160;<span class="keywordtype">void</span> </div>
<div class="line"><a name="l00543"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image.html#aa7e520479cc8f66e5ddd7f594649b25f">  543</a></span>&#160;<a class="code" href="classpcl_1_1_range_image.html#a52164736793c99cc9fc48dedee615e45">RangeImage::getPoint</a> (<span class="keywordtype">int</span> index, Eigen::Vector3f&amp; point)<span class="keyword"> const</span></div>
<div class="line"><a name="l00544"></a><span class="lineno">  544</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00545"></a><span class="lineno">  545</span>&#160;  point = <a class="code" href="classpcl_1_1_range_image.html#a52164736793c99cc9fc48dedee615e45">getPoint</a> (index).getVector3fMap ();</div>
<div class="line"><a name="l00546"></a><span class="lineno">  546</span>&#160;}</div>
<div class="line"><a name="l00547"></a><span class="lineno">  547</span>&#160; </div>
<div class="line"><a name="l00549"></a><span class="lineno">  549</span>&#160;<span class="keyword">const</span> Eigen::Map&lt;const Eigen::Vector3f&gt; </div>
<div class="line"><a name="l00550"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image.html#a63716da3dad788cd23b64e9dc67b1791">  550</a></span>&#160;<a class="code" href="classpcl_1_1_range_image.html#a2e3b75077a96415e431b90f53a249773">RangeImage::getEigenVector3f</a> (<span class="keywordtype">int</span> x, <span class="keywordtype">int</span> y)<span class="keyword"> const</span></div>
<div class="line"><a name="l00551"></a><span class="lineno">  551</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00552"></a><span class="lineno">  552</span>&#160;  <span class="keywordflow">return</span> <a class="code" href="classpcl_1_1_range_image.html#a52164736793c99cc9fc48dedee615e45">getPoint</a> (x, y).getVector3fMap ();</div>
<div class="line"><a name="l00553"></a><span class="lineno">  553</span>&#160;}</div>
<div class="line"><a name="l00554"></a><span class="lineno">  554</span>&#160; </div>
<div class="line"><a name="l00556"></a><span class="lineno">  556</span>&#160;<span class="keyword">const</span> Eigen::Map&lt;const Eigen::Vector3f&gt; </div>
<div class="line"><a name="l00557"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image.html#aab3ee4df50d138b9f9b4ba34306c1071">  557</a></span>&#160;<a class="code" href="classpcl_1_1_range_image.html#a2e3b75077a96415e431b90f53a249773">RangeImage::getEigenVector3f</a> (<span class="keywordtype">int</span> index)<span class="keyword"> const</span></div>
<div class="line"><a name="l00558"></a><span class="lineno">  558</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00559"></a><span class="lineno">  559</span>&#160;  <span class="keywordflow">return</span> <a class="code" href="classpcl_1_1_range_image.html#a52164736793c99cc9fc48dedee615e45">getPoint</a> (index).getVector3fMap ();</div>
<div class="line"><a name="l00560"></a><span class="lineno">  560</span>&#160;}</div>
<div class="line"><a name="l00561"></a><span class="lineno">  561</span>&#160; </div>
<div class="line"><a name="l00563"></a><span class="lineno">  563</span>&#160;<span class="keywordtype">void</span> </div>
<div class="line"><a name="l00564"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image.html#aa9e97e7487ac21a77075b5f8b64ca205">  564</a></span>&#160;<a class="code" href="classpcl_1_1_range_image.html#a1acc16b4b5fb7071175bada62a5b75d0">RangeImage::calculate3DPoint</a> (<span class="keywordtype">float</span> image_x, <span class="keywordtype">float</span> image_y, <span class="keywordtype">float</span> range, Eigen::Vector3f&amp; point)<span class="keyword"> const </span></div>
<div class="line"><a name="l00565"></a><span class="lineno">  565</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00566"></a><span class="lineno">  566</span>&#160;  <span class="keywordtype">float</span> angle_x, angle_y;</div>
<div class="line"><a name="l00567"></a><span class="lineno">  567</span>&#160;  <span class="comment">//std::cout &lt;&lt; image_x&lt;&lt;&quot;,&quot;&lt;&lt;image_y&lt;&lt;&quot;,&quot;&lt;&lt;range;</span></div>
<div class="line"><a name="l00568"></a><span class="lineno">  568</span>&#160;  <a class="code" href="classpcl_1_1_range_image.html#a2388ab60ff312e9034df5e67f899ea97">getAnglesFromImagePoint</a> (image_x, image_y, angle_x, angle_y);</div>
<div class="line"><a name="l00569"></a><span class="lineno">  569</span>&#160;  </div>
<div class="line"><a name="l00570"></a><span class="lineno">  570</span>&#160;  <span class="keywordtype">float</span> cosY = cosf (angle_y);</div>
<div class="line"><a name="l00571"></a><span class="lineno">  571</span>&#160;  point = Eigen::Vector3f (range * sinf (angle_x) * cosY, range * sinf (angle_y), range * cosf (angle_x)*cosY);</div>
<div class="line"><a name="l00572"></a><span class="lineno">  572</span>&#160;  point = <a class="code" href="classpcl_1_1_range_image.html#a31c36f147403c0f64e1c3a386b30e229">to_world_system_</a> * point;</div>
<div class="line"><a name="l00573"></a><span class="lineno">  573</span>&#160;}</div>
<div class="line"><a name="l00574"></a><span class="lineno">  574</span>&#160; </div>
<div class="line"><a name="l00576"></a><span class="lineno">  576</span>&#160;<span class="keywordtype">void</span> </div>
<div class="line"><a name="l00577"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image.html#abbb77866cf4ee5d2a619f4f8cc62cc9b">  577</a></span>&#160;<a class="code" href="classpcl_1_1_range_image.html#a1acc16b4b5fb7071175bada62a5b75d0">RangeImage::calculate3DPoint</a> (<span class="keywordtype">float</span> image_x, <span class="keywordtype">float</span> image_y, Eigen::Vector3f&amp; point)<span class="keyword"> const</span></div>
<div class="line"><a name="l00578"></a><span class="lineno">  578</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00579"></a><span class="lineno">  579</span>&#160;  <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_with_range.html">PointWithRange</a>&amp; point_in_image = <a class="code" href="classpcl_1_1_range_image.html#a52164736793c99cc9fc48dedee615e45">getPoint</a> (image_x, image_y);</div>
<div class="line"><a name="l00580"></a><span class="lineno">  580</span>&#160;  <a class="code" href="classpcl_1_1_range_image.html#a1acc16b4b5fb7071175bada62a5b75d0">calculate3DPoint</a> (image_x, image_y, point_in_image.range, point);</div>
<div class="line"><a name="l00581"></a><span class="lineno">  581</span>&#160;}</div>
<div class="line"><a name="l00582"></a><span class="lineno">  582</span>&#160; </div>
<div class="line"><a name="l00584"></a><span class="lineno">  584</span>&#160;<span class="keywordtype">void</span> </div>
<div class="line"><a name="l00585"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image.html#a1acc16b4b5fb7071175bada62a5b75d0">  585</a></span>&#160;<a class="code" href="classpcl_1_1_range_image.html#a1acc16b4b5fb7071175bada62a5b75d0">RangeImage::calculate3DPoint</a> (<span class="keywordtype">float</span> image_x, <span class="keywordtype">float</span> image_y, <span class="keywordtype">float</span> range, <a class="code" href="structpcl_1_1_point_with_range.html">PointWithRange</a>&amp; point)<span class="keyword"> const </span>{</div>
<div class="line"><a name="l00586"></a><span class="lineno">  586</span>&#160;  point.range = range;</div>
<div class="line"><a name="l00587"></a><span class="lineno">  587</span>&#160;  Eigen::Vector3f tmp_point;</div>
<div class="line"><a name="l00588"></a><span class="lineno">  588</span>&#160;  <a class="code" href="classpcl_1_1_range_image.html#a1acc16b4b5fb7071175bada62a5b75d0">calculate3DPoint</a> (image_x, image_y, range, tmp_point);</div>
<div class="line"><a name="l00589"></a><span class="lineno">  589</span>&#160;  point.x=tmp_point[0];  point.y=tmp_point[1];  point.z=tmp_point[2];</div>
<div class="line"><a name="l00590"></a><span class="lineno">  590</span>&#160;}</div>
<div class="line"><a name="l00591"></a><span class="lineno">  591</span>&#160; </div>
<div class="line"><a name="l00593"></a><span class="lineno">  593</span>&#160;<span class="keywordtype">void</span> </div>
<div class="line"><a name="l00594"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image.html#a0f969bd0149b7848f0f26b44bb88035c">  594</a></span>&#160;<a class="code" href="classpcl_1_1_range_image.html#a1acc16b4b5fb7071175bada62a5b75d0">RangeImage::calculate3DPoint</a> (<span class="keywordtype">float</span> image_x, <span class="keywordtype">float</span> image_y, <a class="code" href="structpcl_1_1_point_with_range.html">PointWithRange</a>&amp; point)<span class="keyword"> const</span></div>
<div class="line"><a name="l00595"></a><span class="lineno">  595</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00596"></a><span class="lineno">  596</span>&#160;  <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_with_range.html">PointWithRange</a>&amp; point_in_image = <a class="code" href="classpcl_1_1_range_image.html#a52164736793c99cc9fc48dedee615e45">getPoint</a> (image_x, image_y);</div>
<div class="line"><a name="l00597"></a><span class="lineno">  597</span>&#160;  <a class="code" href="classpcl_1_1_range_image.html#a1acc16b4b5fb7071175bada62a5b75d0">calculate3DPoint</a> (image_x, image_y, point_in_image.range, point);</div>
<div class="line"><a name="l00598"></a><span class="lineno">  598</span>&#160;}</div>
<div class="line"><a name="l00599"></a><span class="lineno">  599</span>&#160; </div>
<div class="line"><a name="l00601"></a><span class="lineno">  601</span>&#160;<span class="keywordtype">void</span> </div>
<div class="line"><a name="l00602"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image.html#a2388ab60ff312e9034df5e67f899ea97">  602</a></span>&#160;<a class="code" href="classpcl_1_1_range_image.html#a2388ab60ff312e9034df5e67f899ea97">RangeImage::getAnglesFromImagePoint</a> (<span class="keywordtype">float</span> image_x, <span class="keywordtype">float</span> image_y, <span class="keywordtype">float</span>&amp; angle_x, <span class="keywordtype">float</span>&amp; angle_y)<span class="keyword"> const </span></div>
<div class="line"><a name="l00603"></a><span class="lineno">  603</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00604"></a><span class="lineno">  604</span>&#160;  angle_y = (image_y+<span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (<a class="code" href="classpcl_1_1_range_image.html#a1518af9f1c9eb6ac259be92824842e23">image_offset_y_</a>))*<a class="code" href="classpcl_1_1_range_image.html#a9471a00ecde65c754227e155cc234942">angular_resolution_y_</a> - 0.5f*<span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (M_PI);</div>
<div class="line"><a name="l00605"></a><span class="lineno">  605</span>&#160;  <span class="keywordtype">float</span> cos_angle_y = cosf (angle_y);</div>
<div class="line"><a name="l00606"></a><span class="lineno">  606</span>&#160;  angle_x = (cos_angle_y==0.0f ? 0.0f : ( (image_x+ <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (image_offset_x_))*<a class="code" href="classpcl_1_1_range_image.html#abdbfb655cdfeb5d8ace1ac841a52a524">angular_resolution_x_</a> - <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (M_PI))/cos_angle_y);</div>
<div class="line"><a name="l00607"></a><span class="lineno">  607</span>&#160;}</div>
<div class="line"><a name="l00608"></a><span class="lineno">  608</span>&#160; </div>
<div class="line"><a name="l00610"></a><span class="lineno">  610</span>&#160;<span class="keywordtype">float</span> </div>
<div class="line"><a name="l00611"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image.html#aa6210710d430006d4c4ca93b6f8023da">  611</a></span>&#160;<a class="code" href="classpcl_1_1_range_image.html#a6b87fa04fd32ec986f1af9149bd46841">RangeImage::getImpactAngle</a> (<span class="keywordtype">int</span> x1, <span class="keywordtype">int</span> y1, <span class="keywordtype">int</span> x2, <span class="keywordtype">int</span> y2)<span class="keyword"> const</span></div>
<div class="line"><a name="l00612"></a><span class="lineno">  612</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00613"></a><span class="lineno">  613</span>&#160;  <span class="keywordflow">if</span> (!<a class="code" href="classpcl_1_1_range_image.html#a824a6bb27b43a174da775a656b81a483">isInImage</a> (x1, y1) || !<a class="code" href="classpcl_1_1_range_image.html#a824a6bb27b43a174da775a656b81a483">isInImage</a> (x2,y2))</div>
<div class="line"><a name="l00614"></a><span class="lineno">  614</span>&#160;    <span class="keywordflow">return</span> -std::numeric_limits&lt;float&gt;::infinity ();</div>
<div class="line"><a name="l00615"></a><span class="lineno">  615</span>&#160;  <span class="keywordflow">return</span> <a class="code" href="classpcl_1_1_range_image.html#a6b87fa04fd32ec986f1af9149bd46841">getImpactAngle</a> (<a class="code" href="classpcl_1_1_range_image.html#a52164736793c99cc9fc48dedee615e45">getPoint</a> (x1,y1),<a class="code" href="classpcl_1_1_range_image.html#a52164736793c99cc9fc48dedee615e45">getPoint</a> (x2,y2));</div>
<div class="line"><a name="l00616"></a><span class="lineno">  616</span>&#160;}</div>
<div class="line"><a name="l00617"></a><span class="lineno">  617</span>&#160; </div>
<div class="line"><a name="l00619"></a><span class="lineno">  619</span>&#160;<span class="keywordtype">float</span> </div>
<div class="line"><a name="l00620"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image.html#a6b87fa04fd32ec986f1af9149bd46841">  620</a></span>&#160;<a class="code" href="classpcl_1_1_range_image.html#a6b87fa04fd32ec986f1af9149bd46841">RangeImage::getImpactAngle</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_with_range.html">PointWithRange</a>&amp; point1, <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_with_range.html">PointWithRange</a>&amp; point2)<span class="keyword"> const </span>{</div>
<div class="line"><a name="l00621"></a><span class="lineno">  621</span>&#160;  <span class="keywordflow">if</span> ( (pcl_isinf (point1.range)&amp;&amp;point1.range&lt;0) || (pcl_isinf (point2.range)&amp;&amp;point2.range&lt;0))</div>
<div class="line"><a name="l00622"></a><span class="lineno">  622</span>&#160;    <span class="keywordflow">return</span> -std::numeric_limits&lt;float&gt;::infinity ();</div>
<div class="line"><a name="l00623"></a><span class="lineno">  623</span>&#160;  </div>
<div class="line"><a name="l00624"></a><span class="lineno">  624</span>&#160;  <span class="keywordtype">float</span> r1 = (std::min) (point1.range, point2.range),</div>
<div class="line"><a name="l00625"></a><span class="lineno">  625</span>&#160;        r2 = (std::max) (point1.range, point2.range);</div>
<div class="line"><a name="l00626"></a><span class="lineno">  626</span>&#160;  <span class="keywordtype">float</span> impact_angle = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (0.5f * M_PI);</div>
<div class="line"><a name="l00627"></a><span class="lineno">  627</span>&#160;  </div>
<div class="line"><a name="l00628"></a><span class="lineno">  628</span>&#160;  <span class="keywordflow">if</span> (pcl_isinf (r2)) </div>
<div class="line"><a name="l00629"></a><span class="lineno">  629</span>&#160;  {</div>
<div class="line"><a name="l00630"></a><span class="lineno">  630</span>&#160;    <span class="keywordflow">if</span> (r2 &gt; 0.0f &amp;&amp; !pcl_isinf (r1))</div>
<div class="line"><a name="l00631"></a><span class="lineno">  631</span>&#160;      impact_angle = 0.0f;</div>
<div class="line"><a name="l00632"></a><span class="lineno">  632</span>&#160;  }</div>
<div class="line"><a name="l00633"></a><span class="lineno">  633</span>&#160;  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (!pcl_isinf (r1)) </div>
<div class="line"><a name="l00634"></a><span class="lineno">  634</span>&#160;  {</div>
<div class="line"><a name="l00635"></a><span class="lineno">  635</span>&#160;    <span class="keywordtype">float</span> r1Sqr = r1*r1,</div>
<div class="line"><a name="l00636"></a><span class="lineno">  636</span>&#160;          r2Sqr = r2*r2,</div>
<div class="line"><a name="l00637"></a><span class="lineno">  637</span>&#160;          dSqr  = <a class="code" href="common_2include_2pcl_2common_2distances_8h.html#a28ecc173df18d9175dee9f4dd042390b">squaredEuclideanDistance</a> (point1, point2),</div>
<div class="line"><a name="l00638"></a><span class="lineno">  638</span>&#160;          d     = std::sqrt (dSqr);</div>
<div class="line"><a name="l00639"></a><span class="lineno">  639</span>&#160;    <span class="keywordtype">float</span> cos_impact_angle = (r2Sqr + dSqr - r1Sqr)/ (2.0f*r2*d);</div>
<div class="line"><a name="l00640"></a><span class="lineno">  640</span>&#160;    cos_impact_angle = (std::max) (0.0f, (std::min) (1.0f, cos_impact_angle));</div>
<div class="line"><a name="l00641"></a><span class="lineno">  641</span>&#160;    impact_angle = acosf (cos_impact_angle);  <span class="comment">// Using the cosine rule</span></div>
<div class="line"><a name="l00642"></a><span class="lineno">  642</span>&#160;  }</div>
<div class="line"><a name="l00643"></a><span class="lineno">  643</span>&#160;  </div>
<div class="line"><a name="l00644"></a><span class="lineno">  644</span>&#160;  <span class="keywordflow">if</span> (point1.range &gt; point2.range)</div>
<div class="line"><a name="l00645"></a><span class="lineno">  645</span>&#160;    impact_angle = -impact_angle;</div>
<div class="line"><a name="l00646"></a><span class="lineno">  646</span>&#160;  </div>
<div class="line"><a name="l00647"></a><span class="lineno">  647</span>&#160;  <span class="keywordflow">return</span> impact_angle;</div>
<div class="line"><a name="l00648"></a><span class="lineno">  648</span>&#160;}</div>
<div class="line"><a name="l00649"></a><span class="lineno">  649</span>&#160; </div>
<div class="line"><a name="l00651"></a><span class="lineno">  651</span>&#160;<span class="keywordtype">float</span> </div>
<div class="line"><a name="l00652"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image.html#a2290765b8ccd5608ffa4967dc282395a">  652</a></span>&#160;<a class="code" href="classpcl_1_1_range_image.html#a2290765b8ccd5608ffa4967dc282395a">RangeImage::getAcutenessValue</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_with_range.html">PointWithRange</a>&amp; point1, <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_with_range.html">PointWithRange</a>&amp; point2)<span class="keyword"> const</span></div>
<div class="line"><a name="l00653"></a><span class="lineno">  653</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00654"></a><span class="lineno">  654</span>&#160;  <span class="keywordtype">float</span> impact_angle = <a class="code" href="classpcl_1_1_range_image.html#a6b87fa04fd32ec986f1af9149bd46841">getImpactAngle</a> (point1, point2);</div>
<div class="line"><a name="l00655"></a><span class="lineno">  655</span>&#160;  <span class="keywordflow">if</span> (pcl_isinf (impact_angle))</div>
<div class="line"><a name="l00656"></a><span class="lineno">  656</span>&#160;    <span class="keywordflow">return</span> -std::numeric_limits&lt;float&gt;::infinity ();</div>
<div class="line"><a name="l00657"></a><span class="lineno">  657</span>&#160;  <span class="keywordtype">float</span> ret = 1.0f - float (fabs (impact_angle)/ (0.5f*M_PI));</div>
<div class="line"><a name="l00658"></a><span class="lineno">  658</span>&#160;  <span class="keywordflow">if</span> (impact_angle &lt; 0.0f)</div>
<div class="line"><a name="l00659"></a><span class="lineno">  659</span>&#160;    ret = -ret;</div>
<div class="line"><a name="l00660"></a><span class="lineno">  660</span>&#160;  <span class="comment">//if (fabs (ret)&gt;1)</span></div>
<div class="line"><a name="l00661"></a><span class="lineno">  661</span>&#160;    <span class="comment">//std::cout &lt;&lt; PVARAC (impact_angle)&lt;&lt;PVARN (ret);</span></div>
<div class="line"><a name="l00662"></a><span class="lineno">  662</span>&#160;  <span class="keywordflow">return</span> ret;</div>
<div class="line"><a name="l00663"></a><span class="lineno">  663</span>&#160;}</div>
<div class="line"><a name="l00664"></a><span class="lineno">  664</span>&#160; </div>
<div class="line"><a name="l00666"></a><span class="lineno">  666</span>&#160;<span class="keywordtype">float</span> </div>
<div class="line"><a name="l00667"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image.html#a428803af781c88a43cf0c9b251d081bf">  667</a></span>&#160;<a class="code" href="classpcl_1_1_range_image.html#a2290765b8ccd5608ffa4967dc282395a">RangeImage::getAcutenessValue</a> (<span class="keywordtype">int</span> x1, <span class="keywordtype">int</span> y1, <span class="keywordtype">int</span> x2, <span class="keywordtype">int</span> y2)<span class="keyword"> const</span></div>
<div class="line"><a name="l00668"></a><span class="lineno">  668</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00669"></a><span class="lineno">  669</span>&#160;  <span class="keywordflow">if</span> (!<a class="code" href="classpcl_1_1_range_image.html#a824a6bb27b43a174da775a656b81a483">isInImage</a> (x1, y1) || !<a class="code" href="classpcl_1_1_range_image.html#a824a6bb27b43a174da775a656b81a483">isInImage</a> (x2,y2))</div>
<div class="line"><a name="l00670"></a><span class="lineno">  670</span>&#160;    <span class="keywordflow">return</span> -std::numeric_limits&lt;float&gt;::infinity ();</div>
<div class="line"><a name="l00671"></a><span class="lineno">  671</span>&#160;  <span class="keywordflow">return</span> <a class="code" href="classpcl_1_1_range_image.html#a2290765b8ccd5608ffa4967dc282395a">getAcutenessValue</a> (<a class="code" href="classpcl_1_1_range_image.html#a52164736793c99cc9fc48dedee615e45">getPoint</a> (x1,y1), <a class="code" href="classpcl_1_1_range_image.html#a52164736793c99cc9fc48dedee615e45">getPoint</a> (x2,y2));</div>
<div class="line"><a name="l00672"></a><span class="lineno">  672</span>&#160;}</div>
<div class="line"><a name="l00673"></a><span class="lineno">  673</span>&#160; </div>
<div class="line"><a name="l00675"></a><span class="lineno">  675</span>&#160;<span class="keyword">const</span> Eigen::Vector3f </div>
<div class="line"><a name="l00676"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image.html#a942d6b253c5df68008614af6dfed323a">  676</a></span>&#160;<a class="code" href="classpcl_1_1_range_image.html#a942d6b253c5df68008614af6dfed323a">RangeImage::getSensorPos</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00677"></a><span class="lineno">  677</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00678"></a><span class="lineno">  678</span>&#160;  <span class="keywordflow">return</span> Eigen::Vector3f (<a class="code" href="classpcl_1_1_range_image.html#a31c36f147403c0f64e1c3a386b30e229">to_world_system_</a> (0,3), <a class="code" href="classpcl_1_1_range_image.html#a31c36f147403c0f64e1c3a386b30e229">to_world_system_</a> (1,3), <a class="code" href="classpcl_1_1_range_image.html#a31c36f147403c0f64e1c3a386b30e229">to_world_system_</a> (2,3));</div>
<div class="line"><a name="l00679"></a><span class="lineno">  679</span>&#160;}</div>
<div class="line"><a name="l00680"></a><span class="lineno">  680</span>&#160; </div>
<div class="line"><a name="l00682"></a><span class="lineno">  682</span>&#160;<span class="keywordtype">void</span> </div>
<div class="line"><a name="l00683"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image.html#afd94afe865f6cd46cfbc64f45bb1d03e">  683</a></span>&#160;<a class="code" href="classpcl_1_1_range_image.html#afd94afe865f6cd46cfbc64f45bb1d03e">RangeImage::getSurfaceAngleChange</a> (<span class="keywordtype">int</span> x, <span class="keywordtype">int</span> y, <span class="keywordtype">int</span> radius, <span class="keywordtype">float</span>&amp; angle_change_x, <span class="keywordtype">float</span>&amp; angle_change_y)<span class="keyword"> const</span></div>
<div class="line"><a name="l00684"></a><span class="lineno">  684</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00685"></a><span class="lineno">  685</span>&#160;  angle_change_x = angle_change_y = -std::numeric_limits&lt;float&gt;::infinity ();</div>
<div class="line"><a name="l00686"></a><span class="lineno">  686</span>&#160;  <span class="keywordflow">if</span> (!<a class="code" href="classpcl_1_1_range_image.html#a2372989721c3c119bb5d4b5ebd9b59c3">isValid</a> (x,y))</div>
<div class="line"><a name="l00687"></a><span class="lineno">  687</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00688"></a><span class="lineno">  688</span>&#160;  Eigen::Vector3f point;</div>
<div class="line"><a name="l00689"></a><span class="lineno">  689</span>&#160;  <a class="code" href="classpcl_1_1_range_image.html#a52164736793c99cc9fc48dedee615e45">getPoint</a> (x, y, point);</div>
<div class="line"><a name="l00690"></a><span class="lineno">  690</span>&#160;  Eigen::Affine3f transformation = <a class="code" href="classpcl_1_1_range_image.html#a6646c58459dc6780f114039d296d88d4">getTransformationToViewerCoordinateFrame</a> (point);</div>
<div class="line"><a name="l00691"></a><span class="lineno">  691</span>&#160;  </div>
<div class="line"><a name="l00692"></a><span class="lineno">  692</span>&#160;  <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1_range_image.html#a75e51885e151759d815ec1b1b72ea4ff">isObserved</a> (x-radius, y) &amp;&amp; <a class="code" href="classpcl_1_1_range_image.html#a75e51885e151759d815ec1b1b72ea4ff">isObserved</a> (x+radius, y))</div>
<div class="line"><a name="l00693"></a><span class="lineno">  693</span>&#160;  {</div>
<div class="line"><a name="l00694"></a><span class="lineno">  694</span>&#160;    Eigen::Vector3f transformed_left;</div>
<div class="line"><a name="l00695"></a><span class="lineno">  695</span>&#160;    <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1_range_image.html#a771ab2f1ee2952a319da20301b27ab3b">isMaxRange</a> (x-radius, y))</div>
<div class="line"><a name="l00696"></a><span class="lineno">  696</span>&#160;      transformed_left = Eigen::Vector3f (0.0f, 0.0f, -1.0f);</div>
<div class="line"><a name="l00697"></a><span class="lineno">  697</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l00698"></a><span class="lineno">  698</span>&#160;    {</div>
<div class="line"><a name="l00699"></a><span class="lineno">  699</span>&#160;      Eigen::Vector3f left;</div>
<div class="line"><a name="l00700"></a><span class="lineno">  700</span>&#160;      <a class="code" href="classpcl_1_1_range_image.html#a52164736793c99cc9fc48dedee615e45">getPoint</a> (x-radius, y, left);</div>
<div class="line"><a name="l00701"></a><span class="lineno">  701</span>&#160;      transformed_left = - (transformation * left);</div>
<div class="line"><a name="l00702"></a><span class="lineno">  702</span>&#160;      <span class="comment">//std::cout &lt;&lt; PVARN (transformed_left[1]);</span></div>
<div class="line"><a name="l00703"></a><span class="lineno">  703</span>&#160;      transformed_left[1] = 0.0f;</div>
<div class="line"><a name="l00704"></a><span class="lineno">  704</span>&#160;      transformed_left.normalize ();</div>
<div class="line"><a name="l00705"></a><span class="lineno">  705</span>&#160;    }</div>
<div class="line"><a name="l00706"></a><span class="lineno">  706</span>&#160;    </div>
<div class="line"><a name="l00707"></a><span class="lineno">  707</span>&#160;    Eigen::Vector3f transformed_right;</div>
<div class="line"><a name="l00708"></a><span class="lineno">  708</span>&#160;    <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1_range_image.html#a771ab2f1ee2952a319da20301b27ab3b">isMaxRange</a> (x+radius, y))</div>
<div class="line"><a name="l00709"></a><span class="lineno">  709</span>&#160;      transformed_right = Eigen::Vector3f (0.0f, 0.0f, 1.0f);</div>
<div class="line"><a name="l00710"></a><span class="lineno">  710</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l00711"></a><span class="lineno">  711</span>&#160;    {</div>
<div class="line"><a name="l00712"></a><span class="lineno">  712</span>&#160;      Eigen::Vector3f right;</div>
<div class="line"><a name="l00713"></a><span class="lineno">  713</span>&#160;      <a class="code" href="classpcl_1_1_range_image.html#a52164736793c99cc9fc48dedee615e45">getPoint</a> (x+radius, y, right);</div>
<div class="line"><a name="l00714"></a><span class="lineno">  714</span>&#160;      transformed_right = transformation * right;</div>
<div class="line"><a name="l00715"></a><span class="lineno">  715</span>&#160;      <span class="comment">//std::cout &lt;&lt; PVARN (transformed_right[1]);</span></div>
<div class="line"><a name="l00716"></a><span class="lineno">  716</span>&#160;      transformed_right[1] = 0.0f;</div>
<div class="line"><a name="l00717"></a><span class="lineno">  717</span>&#160;      transformed_right.normalize ();</div>
<div class="line"><a name="l00718"></a><span class="lineno">  718</span>&#160;    }</div>
<div class="line"><a name="l00719"></a><span class="lineno">  719</span>&#160;    angle_change_x = transformed_left.dot (transformed_right);</div>
<div class="line"><a name="l00720"></a><span class="lineno">  720</span>&#160;    angle_change_x = (std::max) (0.0f, (std::min) (1.0f, angle_change_x));</div>
<div class="line"><a name="l00721"></a><span class="lineno">  721</span>&#160;    angle_change_x = acosf (angle_change_x);</div>
<div class="line"><a name="l00722"></a><span class="lineno">  722</span>&#160;  }</div>
<div class="line"><a name="l00723"></a><span class="lineno">  723</span>&#160;  </div>
<div class="line"><a name="l00724"></a><span class="lineno">  724</span>&#160;  <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1_range_image.html#a75e51885e151759d815ec1b1b72ea4ff">isObserved</a> (x, y-radius) &amp;&amp; <a class="code" href="classpcl_1_1_range_image.html#a75e51885e151759d815ec1b1b72ea4ff">isObserved</a> (x, y+radius))</div>
<div class="line"><a name="l00725"></a><span class="lineno">  725</span>&#160;  {</div>
<div class="line"><a name="l00726"></a><span class="lineno">  726</span>&#160;    Eigen::Vector3f transformed_top;</div>
<div class="line"><a name="l00727"></a><span class="lineno">  727</span>&#160;    <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1_range_image.html#a771ab2f1ee2952a319da20301b27ab3b">isMaxRange</a> (x, y-radius))</div>
<div class="line"><a name="l00728"></a><span class="lineno">  728</span>&#160;      transformed_top = Eigen::Vector3f (0.0f, 0.0f, -1.0f);</div>
<div class="line"><a name="l00729"></a><span class="lineno">  729</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l00730"></a><span class="lineno">  730</span>&#160;    {</div>
<div class="line"><a name="l00731"></a><span class="lineno">  731</span>&#160;      Eigen::Vector3f top;</div>
<div class="line"><a name="l00732"></a><span class="lineno">  732</span>&#160;      <a class="code" href="classpcl_1_1_range_image.html#a52164736793c99cc9fc48dedee615e45">getPoint</a> (x, y-radius, top);</div>
<div class="line"><a name="l00733"></a><span class="lineno">  733</span>&#160;      transformed_top = - (transformation * top);</div>
<div class="line"><a name="l00734"></a><span class="lineno">  734</span>&#160;      <span class="comment">//std::cout &lt;&lt; PVARN (transformed_top[0]);</span></div>
<div class="line"><a name="l00735"></a><span class="lineno">  735</span>&#160;      transformed_top[0] = 0.0f;</div>
<div class="line"><a name="l00736"></a><span class="lineno">  736</span>&#160;      transformed_top.normalize ();</div>
<div class="line"><a name="l00737"></a><span class="lineno">  737</span>&#160;    }</div>
<div class="line"><a name="l00738"></a><span class="lineno">  738</span>&#160;    </div>
<div class="line"><a name="l00739"></a><span class="lineno">  739</span>&#160;    Eigen::Vector3f transformed_bottom;</div>
<div class="line"><a name="l00740"></a><span class="lineno">  740</span>&#160;    <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1_range_image.html#a771ab2f1ee2952a319da20301b27ab3b">isMaxRange</a> (x, y+radius))</div>
<div class="line"><a name="l00741"></a><span class="lineno">  741</span>&#160;      transformed_bottom = Eigen::Vector3f (0.0f, 0.0f, 1.0f);</div>
<div class="line"><a name="l00742"></a><span class="lineno">  742</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l00743"></a><span class="lineno">  743</span>&#160;    {</div>
<div class="line"><a name="l00744"></a><span class="lineno">  744</span>&#160;      Eigen::Vector3f bottom;</div>
<div class="line"><a name="l00745"></a><span class="lineno">  745</span>&#160;      <a class="code" href="classpcl_1_1_range_image.html#a52164736793c99cc9fc48dedee615e45">getPoint</a> (x, y+radius, bottom);</div>
<div class="line"><a name="l00746"></a><span class="lineno">  746</span>&#160;      transformed_bottom = transformation * bottom;</div>
<div class="line"><a name="l00747"></a><span class="lineno">  747</span>&#160;      <span class="comment">//std::cout &lt;&lt; PVARN (transformed_bottom[0]);</span></div>
<div class="line"><a name="l00748"></a><span class="lineno">  748</span>&#160;      transformed_bottom[0] = 0.0f;</div>
<div class="line"><a name="l00749"></a><span class="lineno">  749</span>&#160;      transformed_bottom.normalize ();</div>
<div class="line"><a name="l00750"></a><span class="lineno">  750</span>&#160;    }</div>
<div class="line"><a name="l00751"></a><span class="lineno">  751</span>&#160;    angle_change_y = transformed_top.dot (transformed_bottom);</div>
<div class="line"><a name="l00752"></a><span class="lineno">  752</span>&#160;    angle_change_y = (std::max) (0.0f, (std::min) (1.0f, angle_change_y));</div>
<div class="line"><a name="l00753"></a><span class="lineno">  753</span>&#160;    angle_change_y = acosf (angle_change_y);</div>
<div class="line"><a name="l00754"></a><span class="lineno">  754</span>&#160;  }</div>
<div class="line"><a name="l00755"></a><span class="lineno">  755</span>&#160;}</div>
<div class="line"><a name="l00756"></a><span class="lineno">  756</span>&#160; </div>
<div class="line"><a name="l00757"></a><span class="lineno">  757</span>&#160; </div>
<div class="line"><a name="l00758"></a><span class="lineno">  758</span>&#160;<span class="comment">//inline float RangeImage::getSurfaceChange (const PointWithRange&amp; point, const PointWithRange&amp; neighbor1, const PointWithRange&amp; neighbor2) const</span></div>
<div class="line"><a name="l00759"></a><span class="lineno">  759</span>&#160;<span class="comment">//{</span></div>
<div class="line"><a name="l00760"></a><span class="lineno">  760</span>&#160;  <span class="comment">//if (!pcl_isfinite (point.range) || (!pcl_isfinite (neighbor1.range)&amp;&amp;neighbor1.range&lt;0) || (!pcl_isfinite (neighbor2.range)&amp;&amp;neighbor2.range&lt;0))</span></div>
<div class="line"><a name="l00761"></a><span class="lineno">  761</span>&#160;    <span class="comment">//return -std::numeric_limits&lt;float&gt;::infinity ();</span></div>
<div class="line"><a name="l00762"></a><span class="lineno">  762</span>&#160;  <span class="comment">//if (pcl_isinf (neighbor1.range))</span></div>
<div class="line"><a name="l00763"></a><span class="lineno">  763</span>&#160;  <span class="comment">//{</span></div>
<div class="line"><a name="l00764"></a><span class="lineno">  764</span>&#160;    <span class="comment">//if (pcl_isinf (neighbor2.range))</span></div>
<div class="line"><a name="l00765"></a><span class="lineno">  765</span>&#160;      <span class="comment">//return 0.0f;</span></div>
<div class="line"><a name="l00766"></a><span class="lineno">  766</span>&#160;    <span class="comment">//else</span></div>
<div class="line"><a name="l00767"></a><span class="lineno">  767</span>&#160;      <span class="comment">//return acosf ( (Eigen::Vector3f (point.x, point.y, point.z)-getSensorPos ()).normalized ().dot ( (Eigen::Vector3f (neighbor2.x, neighbor2.y, neighbor2.z)-Eigen::Vector3f (point.x, point.y, point.z)).normalized ()));</span></div>
<div class="line"><a name="l00768"></a><span class="lineno">  768</span>&#160;  <span class="comment">//}</span></div>
<div class="line"><a name="l00769"></a><span class="lineno">  769</span>&#160;  <span class="comment">//if (pcl_isinf (neighbor2.range))</span></div>
<div class="line"><a name="l00770"></a><span class="lineno">  770</span>&#160;    <span class="comment">//return acosf ( (Eigen::Vector3f (point.x, point.y, point.z)-getSensorPos ()).normalized ().dot ( (Eigen::Vector3f (neighbor1.x, neighbor1.y, neighbor1.z)-Eigen::Vector3f (point.x, point.y, point.z)).normalized ()));</span></div>
<div class="line"><a name="l00771"></a><span class="lineno">  771</span>&#160;  </div>
<div class="line"><a name="l00772"></a><span class="lineno">  772</span>&#160;  <span class="comment">//float d1_squared = squaredEuclideanDistance (point, neighbor1),</span></div>
<div class="line"><a name="l00773"></a><span class="lineno">  773</span>&#160;        <span class="comment">//d1 = std::sqrt (d1_squared),</span></div>
<div class="line"><a name="l00774"></a><span class="lineno">  774</span>&#160;        <span class="comment">//d2_squared = squaredEuclideanDistance (point, neighbor2),</span></div>
<div class="line"><a name="l00775"></a><span class="lineno">  775</span>&#160;        <span class="comment">//d2 = std::sqrt (d2_squared),</span></div>
<div class="line"><a name="l00776"></a><span class="lineno">  776</span>&#160;        <span class="comment">//d3_squared = squaredEuclideanDistance (neighbor1, neighbor2);</span></div>
<div class="line"><a name="l00777"></a><span class="lineno">  777</span>&#160;  <span class="comment">//float cos_surface_change = (d1_squared + d2_squared - d3_squared)/ (2.0f*d1*d2),</span></div>
<div class="line"><a name="l00778"></a><span class="lineno">  778</span>&#160;        <span class="comment">//surface_change = acosf (cos_surface_change);</span></div>
<div class="line"><a name="l00779"></a><span class="lineno">  779</span>&#160;  <span class="comment">//if (pcl_isnan (surface_change))</span></div>
<div class="line"><a name="l00780"></a><span class="lineno">  780</span>&#160;    <span class="comment">//surface_change = static_cast&lt;float&gt; (M_PI);</span></div>
<div class="line"><a name="l00782"></a><span class="lineno">  782</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00783"></a><span class="lineno">  783</span>&#160;  <span class="comment">//return surface_change;</span></div>
<div class="line"><a name="l00784"></a><span class="lineno">  784</span>&#160;<span class="comment">//}</span></div>
<div class="line"><a name="l00785"></a><span class="lineno">  785</span>&#160; </div>
<div class="line"><a name="l00787"></a><span class="lineno">  787</span>&#160;<span class="keywordtype">float</span> </div>
<div class="line"><a name="l00788"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image.html#ac504743608967dcd142dc4249b82ea5a">  788</a></span>&#160;<a class="code" href="classpcl_1_1_range_image.html#ac504743608967dcd142dc4249b82ea5a">RangeImage::getMaxAngleSize</a> (<span class="keyword">const</span> Eigen::Affine3f&amp; viewer_pose, <span class="keyword">const</span> Eigen::Vector3f&amp; center, <span class="keywordtype">float</span> radius)</div>
<div class="line"><a name="l00789"></a><span class="lineno">  789</span>&#160;{</div>
<div class="line"><a name="l00790"></a><span class="lineno">  790</span>&#160;  <span class="keywordflow">return</span> 2.0f * asinf (radius/ (viewer_pose.translation ()-center).norm ());</div>
<div class="line"><a name="l00791"></a><span class="lineno">  791</span>&#160;}</div>
<div class="line"><a name="l00792"></a><span class="lineno">  792</span>&#160; </div>
<div class="line"><a name="l00794"></a><span class="lineno">  794</span>&#160;Eigen::Vector3f </div>
<div class="line"><a name="l00795"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image.html#a2e3b75077a96415e431b90f53a249773">  795</a></span>&#160;<a class="code" href="classpcl_1_1_range_image.html#a2e3b75077a96415e431b90f53a249773">RangeImage::getEigenVector3f</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_with_range.html">PointWithRange</a>&amp; point)</div>
<div class="line"><a name="l00796"></a><span class="lineno">  796</span>&#160;{</div>
<div class="line"><a name="l00797"></a><span class="lineno">  797</span>&#160;  <span class="keywordflow">return</span> Eigen::Vector3f (point.x, point.y, point.z);</div>
<div class="line"><a name="l00798"></a><span class="lineno">  798</span>&#160;}</div>
<div class="line"><a name="l00799"></a><span class="lineno">  799</span>&#160; </div>
<div class="line"><a name="l00801"></a><span class="lineno">  801</span>&#160;<span class="keywordtype">void</span> </div>
<div class="line"><a name="l00802"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image.html#a397d6c6b38906e98ab89b817c4191247">  802</a></span>&#160;<a class="code" href="classpcl_1_1_range_image.html#a397d6c6b38906e98ab89b817c4191247">RangeImage::get1dPointAverage</a> (<span class="keywordtype">int</span> x, <span class="keywordtype">int</span> y, <span class="keywordtype">int</span> delta_x, <span class="keywordtype">int</span> delta_y, <span class="keywordtype">int</span> no_of_points, <a class="code" href="structpcl_1_1_point_with_range.html">PointWithRange</a>&amp; average_point)<span class="keyword"> const</span></div>
<div class="line"><a name="l00803"></a><span class="lineno">  803</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00804"></a><span class="lineno">  804</span>&#160;  <span class="comment">//std::cout &lt;&lt; __PRETTY_FUNCTION__&lt;&lt;&quot; called.\n&quot;;</span></div>
<div class="line"><a name="l00805"></a><span class="lineno">  805</span>&#160;  <span class="comment">//MEASURE_FUNCTION_TIME;</span></div>
<div class="line"><a name="l00806"></a><span class="lineno">  806</span>&#160;  <span class="keywordtype">float</span> weight_sum = 1.0f;</div>
<div class="line"><a name="l00807"></a><span class="lineno">  807</span>&#160;  average_point = <a class="code" href="classpcl_1_1_range_image.html#a52164736793c99cc9fc48dedee615e45">getPoint</a> (x,y);</div>
<div class="line"><a name="l00808"></a><span class="lineno">  808</span>&#160;  <span class="keywordflow">if</span> (pcl_isinf (average_point.range))</div>
<div class="line"><a name="l00809"></a><span class="lineno">  809</span>&#160;  {</div>
<div class="line"><a name="l00810"></a><span class="lineno">  810</span>&#160;    <span class="keywordflow">if</span> (average_point.range&gt;0.0f)  <span class="comment">// The first point is max range -&gt; return a max range point</span></div>
<div class="line"><a name="l00811"></a><span class="lineno">  811</span>&#160;      <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00812"></a><span class="lineno">  812</span>&#160;    weight_sum = 0.0f;</div>
<div class="line"><a name="l00813"></a><span class="lineno">  813</span>&#160;    average_point.x = average_point.y = average_point.z = average_point.range = 0.0f;</div>
<div class="line"><a name="l00814"></a><span class="lineno">  814</span>&#160;  }</div>
<div class="line"><a name="l00815"></a><span class="lineno">  815</span>&#160;  </div>
<div class="line"><a name="l00816"></a><span class="lineno">  816</span>&#160;  <span class="keywordtype">int</span> x2=x, y2=y;</div>
<div class="line"><a name="l00817"></a><span class="lineno">  817</span>&#160;  Vector4fMap average_point_eigen = average_point.getVector4fMap ();</div>
<div class="line"><a name="l00818"></a><span class="lineno">  818</span>&#160;  <span class="comment">//std::cout &lt;&lt; PVARN (no_of_points);</span></div>
<div class="line"><a name="l00819"></a><span class="lineno">  819</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> step=1; step&lt;no_of_points; ++step)</div>
<div class="line"><a name="l00820"></a><span class="lineno">  820</span>&#160;  {</div>
<div class="line"><a name="l00821"></a><span class="lineno">  821</span>&#160;    <span class="comment">//std::cout &lt;&lt; PVARC (step);</span></div>
<div class="line"><a name="l00822"></a><span class="lineno">  822</span>&#160;    x2+=delta_x;  y2+=delta_y;</div>
<div class="line"><a name="l00823"></a><span class="lineno">  823</span>&#160;    <span class="keywordflow">if</span> (!<a class="code" href="classpcl_1_1_range_image.html#a2372989721c3c119bb5d4b5ebd9b59c3">isValid</a> (x2, y2))</div>
<div class="line"><a name="l00824"></a><span class="lineno">  824</span>&#160;      <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00825"></a><span class="lineno">  825</span>&#160;    <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_with_range.html">PointWithRange</a>&amp; p = <a class="code" href="classpcl_1_1_range_image.html#a587663a5b4123f4c423c9e38a9b36d41">getPointNoCheck</a> (x2, y2);</div>
<div class="line"><a name="l00826"></a><span class="lineno">  826</span>&#160;    average_point_eigen+=p.getVector4fMap (); average_point.range+=p.range;</div>
<div class="line"><a name="l00827"></a><span class="lineno">  827</span>&#160;    weight_sum += 1.0f;</div>
<div class="line"><a name="l00828"></a><span class="lineno">  828</span>&#160;  }</div>
<div class="line"><a name="l00829"></a><span class="lineno">  829</span>&#160;  <span class="keywordflow">if</span> (weight_sum&lt;= 0.0f)</div>
<div class="line"><a name="l00830"></a><span class="lineno">  830</span>&#160;  {</div>
<div class="line"><a name="l00831"></a><span class="lineno">  831</span>&#160;    average_point = <a class="code" href="classpcl_1_1_range_image.html#a51bf019906a3256038561354d6b95885">unobserved_point</a>;</div>
<div class="line"><a name="l00832"></a><span class="lineno">  832</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00833"></a><span class="lineno">  833</span>&#160;  }</div>
<div class="line"><a name="l00834"></a><span class="lineno">  834</span>&#160;  <span class="keywordtype">float</span> normalization_factor = 1.0f/weight_sum;</div>
<div class="line"><a name="l00835"></a><span class="lineno">  835</span>&#160;  average_point_eigen *= normalization_factor;</div>
<div class="line"><a name="l00836"></a><span class="lineno">  836</span>&#160;  average_point.range *= normalization_factor;</div>
<div class="line"><a name="l00837"></a><span class="lineno">  837</span>&#160;  <span class="comment">//std::cout &lt;&lt; PVARN (average_point);</span></div>
<div class="line"><a name="l00838"></a><span class="lineno">  838</span>&#160;}</div>
<div class="line"><a name="l00839"></a><span class="lineno">  839</span>&#160; </div>
<div class="line"><a name="l00841"></a><span class="lineno">  841</span>&#160;<span class="keywordtype">float</span> </div>
<div class="line"><a name="l00842"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image.html#a9270139a4ebc5b01e91262bba72c1cf5">  842</a></span>&#160;<a class="code" href="classpcl_1_1_range_image.html#a9270139a4ebc5b01e91262bba72c1cf5">RangeImage::getEuclideanDistanceSquared</a> (<span class="keywordtype">int</span> x1, <span class="keywordtype">int</span> y1, <span class="keywordtype">int</span> x2, <span class="keywordtype">int</span> y2)<span class="keyword"> const</span></div>
<div class="line"><a name="l00843"></a><span class="lineno">  843</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00844"></a><span class="lineno">  844</span>&#160;  <span class="keywordflow">if</span> (!<a class="code" href="classpcl_1_1_range_image.html#a75e51885e151759d815ec1b1b72ea4ff">isObserved</a> (x1,y1)||!<a class="code" href="classpcl_1_1_range_image.html#a75e51885e151759d815ec1b1b72ea4ff">isObserved</a> (x2,y2))</div>
<div class="line"><a name="l00845"></a><span class="lineno">  845</span>&#160;    <span class="keywordflow">return</span> -std::numeric_limits&lt;float&gt;::infinity ();</div>
<div class="line"><a name="l00846"></a><span class="lineno">  846</span>&#160;  <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_with_range.html">PointWithRange</a>&amp; point1 = <a class="code" href="classpcl_1_1_range_image.html#a52164736793c99cc9fc48dedee615e45">getPoint</a> (x1,y1),</div>
<div class="line"><a name="l00847"></a><span class="lineno">  847</span>&#160;                      &amp; point2 = <a class="code" href="classpcl_1_1_range_image.html#a52164736793c99cc9fc48dedee615e45">getPoint</a> (x2,y2);</div>
<div class="line"><a name="l00848"></a><span class="lineno">  848</span>&#160;  <span class="keywordflow">if</span> (pcl_isinf (point1.range) &amp;&amp; pcl_isinf (point2.range))</div>
<div class="line"><a name="l00849"></a><span class="lineno">  849</span>&#160;    <span class="keywordflow">return</span> 0.0f;</div>
<div class="line"><a name="l00850"></a><span class="lineno">  850</span>&#160;  <span class="keywordflow">if</span> (pcl_isinf (point1.range) || pcl_isinf (point2.range))</div>
<div class="line"><a name="l00851"></a><span class="lineno">  851</span>&#160;    <span class="keywordflow">return</span> std::numeric_limits&lt;float&gt;::infinity ();</div>
<div class="line"><a name="l00852"></a><span class="lineno">  852</span>&#160;  <span class="keywordflow">return</span> <a class="code" href="common_2include_2pcl_2common_2distances_8h.html#a28ecc173df18d9175dee9f4dd042390b">squaredEuclideanDistance</a> (point1, point2);</div>
<div class="line"><a name="l00853"></a><span class="lineno">  853</span>&#160;}</div>
<div class="line"><a name="l00854"></a><span class="lineno">  854</span>&#160; </div>
<div class="line"><a name="l00856"></a><span class="lineno">  856</span>&#160;<span class="keywordtype">float</span> </div>
<div class="line"><a name="l00857"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image.html#a4d702bb8f446bb382040e5872b6dbfb1">  857</a></span>&#160;<a class="code" href="classpcl_1_1_range_image.html#a4d702bb8f446bb382040e5872b6dbfb1">RangeImage::getAverageEuclideanDistance</a> (<span class="keywordtype">int</span> x, <span class="keywordtype">int</span> y, <span class="keywordtype">int</span> offset_x, <span class="keywordtype">int</span> offset_y, <span class="keywordtype">int</span> max_steps)<span class="keyword"> const</span></div>
<div class="line"><a name="l00858"></a><span class="lineno">  858</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00859"></a><span class="lineno">  859</span>&#160;  <span class="keywordtype">float</span> average_pixel_distance = 0.0f;</div>
<div class="line"><a name="l00860"></a><span class="lineno">  860</span>&#160;  <span class="keywordtype">float</span> weight=0.0f;</div>
<div class="line"><a name="l00861"></a><span class="lineno">  861</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i=0; i&lt;max_steps; ++i)</div>
<div class="line"><a name="l00862"></a><span class="lineno">  862</span>&#160;  {</div>
<div class="line"><a name="l00863"></a><span class="lineno">  863</span>&#160;    <span class="keywordtype">int</span> x1=x+i*offset_x,     y1=y+i*offset_y;</div>
<div class="line"><a name="l00864"></a><span class="lineno">  864</span>&#160;    <span class="keywordtype">int</span> x2=x+ (i+1)*offset_x, y2=y+ (i+1)*offset_y;</div>
<div class="line"><a name="l00865"></a><span class="lineno">  865</span>&#160;    <span class="keywordtype">float</span> pixel_distance = <a class="code" href="classpcl_1_1_range_image.html#a9270139a4ebc5b01e91262bba72c1cf5">getEuclideanDistanceSquared</a> (x1,y1,x2,y2);</div>
<div class="line"><a name="l00866"></a><span class="lineno">  866</span>&#160;    <span class="keywordflow">if</span> (!pcl_isfinite (pixel_distance))</div>
<div class="line"><a name="l00867"></a><span class="lineno">  867</span>&#160;    {</div>
<div class="line"><a name="l00868"></a><span class="lineno">  868</span>&#160;      <span class="comment">//std::cout &lt;&lt; x&lt;&lt;&quot;,&quot;&lt;&lt;y&lt;&lt;&quot;-&gt;&quot;&lt;&lt;x2&lt;&lt;&quot;,&quot;&lt;&lt;y2&lt;&lt;&quot;: &quot;&lt;&lt;pixel_distance&lt;&lt;&quot;\n&quot;;</span></div>
<div class="line"><a name="l00869"></a><span class="lineno">  869</span>&#160;      <span class="keywordflow">if</span> (i==0)</div>
<div class="line"><a name="l00870"></a><span class="lineno">  870</span>&#160;        <span class="keywordflow">return</span> pixel_distance;</div>
<div class="line"><a name="l00871"></a><span class="lineno">  871</span>&#160;      <span class="keywordflow">else</span></div>
<div class="line"><a name="l00872"></a><span class="lineno">  872</span>&#160;        <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00873"></a><span class="lineno">  873</span>&#160;    }</div>
<div class="line"><a name="l00874"></a><span class="lineno">  874</span>&#160;    <span class="comment">//std::cout &lt;&lt; x&lt;&lt;&quot;,&quot;&lt;&lt;y&lt;&lt;&quot;-&gt;&quot;&lt;&lt;x2&lt;&lt;&quot;,&quot;&lt;&lt;y2&lt;&lt;&quot;: &quot;&lt;&lt;std::sqrt (pixel_distance)&lt;&lt;&quot;m\n&quot;;</span></div>
<div class="line"><a name="l00875"></a><span class="lineno">  875</span>&#160;    weight += 1.0f;</div>
<div class="line"><a name="l00876"></a><span class="lineno">  876</span>&#160;    average_pixel_distance += std::sqrt (pixel_distance);</div>
<div class="line"><a name="l00877"></a><span class="lineno">  877</span>&#160;  }</div>
<div class="line"><a name="l00878"></a><span class="lineno">  878</span>&#160;  average_pixel_distance /= weight;</div>
<div class="line"><a name="l00879"></a><span class="lineno">  879</span>&#160;  <span class="comment">//std::cout &lt;&lt; x&lt;&lt;&quot;,&quot;&lt;&lt;y&lt;&lt;&quot;,&quot;&lt;&lt;offset_x&lt;&lt;&quot;,&quot;&lt;&lt;offset_y&lt;&lt;&quot; =&gt; &quot;&lt;&lt;average_pixel_distance&lt;&lt;&quot;\n&quot;;</span></div>
<div class="line"><a name="l00880"></a><span class="lineno">  880</span>&#160;  <span class="keywordflow">return</span> average_pixel_distance;</div>
<div class="line"><a name="l00881"></a><span class="lineno">  881</span>&#160;}</div>
<div class="line"><a name="l00882"></a><span class="lineno">  882</span>&#160; </div>
<div class="line"><a name="l00884"></a><span class="lineno">  884</span>&#160;<span class="keywordtype">float</span> </div>
<div class="line"><a name="l00885"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image.html#a1ca716a0e6b2aba846bdb4079275f6d9">  885</a></span>&#160;<a class="code" href="classpcl_1_1_range_image.html#a1ca716a0e6b2aba846bdb4079275f6d9">RangeImage::getImpactAngleBasedOnLocalNormal</a> (<span class="keywordtype">int</span> x, <span class="keywordtype">int</span> y, <span class="keywordtype">int</span> radius)<span class="keyword"> const</span></div>
<div class="line"><a name="l00886"></a><span class="lineno">  886</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00887"></a><span class="lineno">  887</span>&#160;  <span class="keywordflow">if</span> (!<a class="code" href="classpcl_1_1_range_image.html#a2372989721c3c119bb5d4b5ebd9b59c3">isValid</a> (x,y))</div>
<div class="line"><a name="l00888"></a><span class="lineno">  888</span>&#160;    <span class="keywordflow">return</span> -std::numeric_limits&lt;float&gt;::infinity ();</div>
<div class="line"><a name="l00889"></a><span class="lineno">  889</span>&#160;  <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_with_range.html">PointWithRange</a>&amp; point = <a class="code" href="classpcl_1_1_range_image.html#a52164736793c99cc9fc48dedee615e45">getPoint</a> (x, y);</div>
<div class="line"><a name="l00890"></a><span class="lineno">  890</span>&#160;  <span class="keywordtype">int</span> no_of_nearest_neighbors = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (pow (<span class="keyword">static_cast&lt;</span><span class="keywordtype">double</span><span class="keyword">&gt;</span> ( (radius + 1.0)), 2.0));</div>
<div class="line"><a name="l00891"></a><span class="lineno">  891</span>&#160;  Eigen::Vector3f normal;</div>
<div class="line"><a name="l00892"></a><span class="lineno">  892</span>&#160;  <span class="keywordflow">if</span> (!<a class="code" href="classpcl_1_1_range_image.html#accb0781e43e55cff62851019ffac47ce">getNormalForClosestNeighbors</a> (x, y, radius, point, no_of_nearest_neighbors, normal, 1))</div>
<div class="line"><a name="l00893"></a><span class="lineno">  893</span>&#160;    <span class="keywordflow">return</span> -std::numeric_limits&lt;float&gt;::infinity ();</div>
<div class="line"><a name="l00894"></a><span class="lineno">  894</span>&#160;  <span class="keywordflow">return</span> <a class="code" href="group__common.html#ga25b0ce695e2a10abb0130bcb5cf90eb6">deg2rad</a> (90.0f) - acosf (normal.dot ( (<a class="code" href="classpcl_1_1_range_image.html#a942d6b253c5df68008614af6dfed323a">getSensorPos</a> ()-<a class="code" href="classpcl_1_1_range_image.html#a2e3b75077a96415e431b90f53a249773">getEigenVector3f</a> (point)).normalized ()));</div>
<div class="line"><a name="l00895"></a><span class="lineno">  895</span>&#160;}</div>
<div class="line"><a name="l00896"></a><span class="lineno">  896</span>&#160; </div>
<div class="line"><a name="l00897"></a><span class="lineno">  897</span>&#160; </div>
<div class="line"><a name="l00899"></a><span class="lineno">  899</span>&#160;<span class="keywordtype">bool</span> </div>
<div class="line"><a name="l00900"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image.html#aeb21e9a192704802adabd6693f00e397">  900</a></span>&#160;<a class="code" href="classpcl_1_1_range_image.html#aeb21e9a192704802adabd6693f00e397">RangeImage::getNormal</a> (<span class="keywordtype">int</span> x, <span class="keywordtype">int</span> y, <span class="keywordtype">int</span> radius, Eigen::Vector3f&amp; normal, <span class="keywordtype">int</span> step_size)<span class="keyword"> const</span></div>
<div class="line"><a name="l00901"></a><span class="lineno">  901</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00902"></a><span class="lineno">  902</span>&#160;  <a class="code" href="classpcl_1_1_vector_average.html">VectorAverage3f</a> vector_average;</div>
<div class="line"><a name="l00903"></a><span class="lineno">  903</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> y2=y-radius; y2&lt;=y+radius; y2+=step_size)</div>
<div class="line"><a name="l00904"></a><span class="lineno">  904</span>&#160;  {</div>
<div class="line"><a name="l00905"></a><span class="lineno">  905</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> x2=x-radius; x2&lt;=x+radius; x2+=step_size)</div>
<div class="line"><a name="l00906"></a><span class="lineno">  906</span>&#160;    {</div>
<div class="line"><a name="l00907"></a><span class="lineno">  907</span>&#160;      <span class="keywordflow">if</span> (!<a class="code" href="classpcl_1_1_range_image.html#a824a6bb27b43a174da775a656b81a483">isInImage</a> (x2, y2))</div>
<div class="line"><a name="l00908"></a><span class="lineno">  908</span>&#160;        <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00909"></a><span class="lineno">  909</span>&#160;      <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_with_range.html">PointWithRange</a>&amp; point = <a class="code" href="classpcl_1_1_range_image.html#a52164736793c99cc9fc48dedee615e45">getPoint</a> (x2, y2);</div>
<div class="line"><a name="l00910"></a><span class="lineno">  910</span>&#160;      <span class="keywordflow">if</span> (!pcl_isfinite (point.range))</div>
<div class="line"><a name="l00911"></a><span class="lineno">  911</span>&#160;        <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00912"></a><span class="lineno">  912</span>&#160;      vector_average.<a class="code" href="classpcl_1_1_vector_average.html#a4baf3e577114982e97f6f9a41affaa79">add</a> (Eigen::Vector3f (point.x, point.y, point.z));</div>
<div class="line"><a name="l00913"></a><span class="lineno">  913</span>&#160;    }</div>
<div class="line"><a name="l00914"></a><span class="lineno">  914</span>&#160;  }</div>
<div class="line"><a name="l00915"></a><span class="lineno">  915</span>&#160;  <span class="keywordflow">if</span> (vector_average.<a class="code" href="classpcl_1_1_vector_average.html#aa4247de7da2c1d3b80762c6123c62d30">getNoOfSamples</a> () &lt; 3)</div>
<div class="line"><a name="l00916"></a><span class="lineno">  916</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a name="l00917"></a><span class="lineno">  917</span>&#160;  Eigen::Vector3f eigen_values, eigen_vector2, eigen_vector3;</div>
<div class="line"><a name="l00918"></a><span class="lineno">  918</span>&#160;  vector_average.<a class="code" href="classpcl_1_1_vector_average.html#a468b99fac0cff4eaed8121df1b643de7">doPCA</a> (eigen_values, normal, eigen_vector2, eigen_vector3);</div>
<div class="line"><a name="l00919"></a><span class="lineno">  919</span>&#160;  <span class="keywordflow">if</span> (normal.dot ( (<a class="code" href="classpcl_1_1_range_image.html#a942d6b253c5df68008614af6dfed323a">getSensorPos</a> ()-vector_average.<a class="code" href="classpcl_1_1_vector_average.html#af301d1b1c35ce778bdc37f078c8fbe35">getMean</a> ()).normalized ()) &lt; 0.0f)</div>
<div class="line"><a name="l00920"></a><span class="lineno">  920</span>&#160;    normal *= -1.0f;</div>
<div class="line"><a name="l00921"></a><span class="lineno">  921</span>&#160;  <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
<div class="line"><a name="l00922"></a><span class="lineno">  922</span>&#160;}</div>
<div class="line"><a name="l00923"></a><span class="lineno">  923</span>&#160; </div>
<div class="line"><a name="l00925"></a><span class="lineno">  925</span>&#160;<span class="keywordtype">float</span> </div>
<div class="line"><a name="l00926"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image.html#a5b6d4bb74fa5134a6c21823dfdcdb13e">  926</a></span>&#160;<a class="code" href="classpcl_1_1_range_image.html#a5b6d4bb74fa5134a6c21823dfdcdb13e">RangeImage::getNormalBasedAcutenessValue</a> (<span class="keywordtype">int</span> x, <span class="keywordtype">int</span> y, <span class="keywordtype">int</span> radius)<span class="keyword"> const</span></div>
<div class="line"><a name="l00927"></a><span class="lineno">  927</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00928"></a><span class="lineno">  928</span>&#160;  <span class="keywordtype">float</span> impact_angle = <a class="code" href="classpcl_1_1_range_image.html#a1ca716a0e6b2aba846bdb4079275f6d9">getImpactAngleBasedOnLocalNormal</a> (x, y, radius);</div>
<div class="line"><a name="l00929"></a><span class="lineno">  929</span>&#160;  <span class="keywordflow">if</span> (pcl_isinf (impact_angle))</div>
<div class="line"><a name="l00930"></a><span class="lineno">  930</span>&#160;    <span class="keywordflow">return</span> -std::numeric_limits&lt;float&gt;::infinity ();</div>
<div class="line"><a name="l00931"></a><span class="lineno">  931</span>&#160;  <span class="keywordtype">float</span> ret = 1.0f - <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> ( (impact_angle / (0.5f * M_PI)));</div>
<div class="line"><a name="l00932"></a><span class="lineno">  932</span>&#160;  <span class="comment">//std::cout &lt;&lt; PVARAC (impact_angle)&lt;&lt;PVARN (ret);</span></div>
<div class="line"><a name="l00933"></a><span class="lineno">  933</span>&#160;  <span class="keywordflow">return</span> ret;</div>
<div class="line"><a name="l00934"></a><span class="lineno">  934</span>&#160;}</div>
<div class="line"><a name="l00935"></a><span class="lineno">  935</span>&#160; </div>
<div class="line"><a name="l00937"></a><span class="lineno">  937</span>&#160;<span class="keywordtype">bool</span> </div>
<div class="line"><a name="l00938"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image.html#accb0781e43e55cff62851019ffac47ce">  938</a></span>&#160;<a class="code" href="classpcl_1_1_range_image.html#accb0781e43e55cff62851019ffac47ce">RangeImage::getNormalForClosestNeighbors</a> (<span class="keywordtype">int</span> x, <span class="keywordtype">int</span> y, <span class="keywordtype">int</span> radius, <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_with_range.html">PointWithRange</a>&amp; point,</div>
<div class="line"><a name="l00939"></a><span class="lineno">  939</span>&#160;                                              <span class="keywordtype">int</span> no_of_nearest_neighbors, Eigen::Vector3f&amp; normal, <span class="keywordtype">int</span> step_size)<span class="keyword"> const</span></div>
<div class="line"><a name="l00940"></a><span class="lineno">  940</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00941"></a><span class="lineno">  941</span>&#160;  <span class="keywordflow">return</span> <a class="code" href="classpcl_1_1_range_image.html#accb0781e43e55cff62851019ffac47ce">getNormalForClosestNeighbors</a> (x, y, radius, Eigen::Vector3f (point.x, point.y, point.z), no_of_nearest_neighbors, normal, NULL, step_size);</div>
<div class="line"><a name="l00942"></a><span class="lineno">  942</span>&#160;}</div>
<div class="line"><a name="l00943"></a><span class="lineno">  943</span>&#160; </div>
<div class="line"><a name="l00945"></a><span class="lineno">  945</span>&#160;<span class="keywordtype">bool</span> </div>
<div class="line"><a name="l00946"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image.html#a5cb82433197f15970647793c6271fe9a">  946</a></span>&#160;<a class="code" href="classpcl_1_1_range_image.html#accb0781e43e55cff62851019ffac47ce">RangeImage::getNormalForClosestNeighbors</a> (<span class="keywordtype">int</span> x, <span class="keywordtype">int</span> y, Eigen::Vector3f&amp; normal, <span class="keywordtype">int</span> radius)<span class="keyword"> const</span></div>
<div class="line"><a name="l00947"></a><span class="lineno">  947</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00948"></a><span class="lineno">  948</span>&#160;  <span class="keywordflow">if</span> (!<a class="code" href="classpcl_1_1_range_image.html#a2372989721c3c119bb5d4b5ebd9b59c3">isValid</a> (x,y))</div>
<div class="line"><a name="l00949"></a><span class="lineno">  949</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a name="l00950"></a><span class="lineno">  950</span>&#160;  <span class="keywordtype">int</span> no_of_nearest_neighbors = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (pow (<span class="keyword">static_cast&lt;</span><span class="keywordtype">double</span><span class="keyword">&gt;</span> (radius + 1.0), 2.0));</div>
<div class="line"><a name="l00951"></a><span class="lineno">  951</span>&#160;  <span class="keywordflow">return</span> <a class="code" href="classpcl_1_1_range_image.html#accb0781e43e55cff62851019ffac47ce">getNormalForClosestNeighbors</a> (x, y, radius, <a class="code" href="classpcl_1_1_range_image.html#a52164736793c99cc9fc48dedee615e45">getPoint</a> (x,y).getVector3fMap (), no_of_nearest_neighbors, normal);</div>
<div class="line"><a name="l00952"></a><span class="lineno">  952</span>&#160;}</div>
<div class="line"><a name="l00953"></a><span class="lineno">  953</span>&#160; </div>
<div class="line"><a name="l00954"></a><span class="lineno">  954</span>&#160;<span class="keyword">namespace </span></div>
<div class="line"><a name="l00955"></a><span class="lineno">  955</span>&#160;{  <span class="comment">// Anonymous namespace, so that this is only accessible in this file</span></div>
<div class="line"><a name="l00956"></a><span class="lineno">  956</span>&#160;  <span class="keyword">struct </span>NeighborWithDistance </div>
<div class="line"><a name="l00957"></a><span class="lineno">  957</span>&#160;  {  <span class="comment">// local struct to help us with sorting</span></div>
<div class="line"><a name="l00958"></a><span class="lineno">  958</span>&#160;    <span class="keywordtype">float</span> distance;</div>
<div class="line"><a name="l00959"></a><span class="lineno">  959</span>&#160;    <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_with_range.html">PointWithRange</a>* neighbor;</div>
<div class="line"><a name="l00960"></a><span class="lineno">  960</span>&#160;    <span class="keywordtype">bool</span> operator &lt; (<span class="keyword">const</span> NeighborWithDistance&amp; other)<span class="keyword"> const </span>{ <span class="keywordflow">return</span> distance&lt;other.distance;}</div>
<div class="line"><a name="l00961"></a><span class="lineno">  961</span>&#160;  };</div>
<div class="line"><a name="l00962"></a><span class="lineno">  962</span>&#160;}</div>
<div class="line"><a name="l00963"></a><span class="lineno">  963</span>&#160; </div>
<div class="line"><a name="l00965"></a><span class="lineno">  965</span>&#160;<span class="keywordtype">bool</span> </div>
<div class="line"><a name="l00966"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image.html#abf1ce91a6aae13aefb5d3026273eb108">  966</a></span>&#160;<a class="code" href="classpcl_1_1_range_image.html#abf1ce91a6aae13aefb5d3026273eb108">RangeImage::getSurfaceInformation</a> (<span class="keywordtype">int</span> x, <span class="keywordtype">int</span> y, <span class="keywordtype">int</span> radius, <span class="keyword">const</span> Eigen::Vector3f&amp; point, <span class="keywordtype">int</span> no_of_closest_neighbors, <span class="keywordtype">int</span> step_size,</div>
<div class="line"><a name="l00967"></a><span class="lineno">  967</span>&#160;                                   <span class="keywordtype">float</span>&amp; max_closest_neighbor_distance_squared,</div>
<div class="line"><a name="l00968"></a><span class="lineno">  968</span>&#160;                                   Eigen::Vector3f&amp; normal, Eigen::Vector3f&amp; mean, Eigen::Vector3f&amp; eigen_values,</div>
<div class="line"><a name="l00969"></a><span class="lineno">  969</span>&#160;                                   Eigen::Vector3f* normal_all_neighbors, Eigen::Vector3f* mean_all_neighbors,</div>
<div class="line"><a name="l00970"></a><span class="lineno">  970</span>&#160;                                   Eigen::Vector3f* eigen_values_all_neighbors)<span class="keyword"> const</span></div>
<div class="line"><a name="l00971"></a><span class="lineno">  971</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00972"></a><span class="lineno">  972</span>&#160;  max_closest_neighbor_distance_squared=0.0f;</div>
<div class="line"><a name="l00973"></a><span class="lineno">  973</span>&#160;  normal.setZero (); mean.setZero (); eigen_values.setZero ();</div>
<div class="line"><a name="l00974"></a><span class="lineno">  974</span>&#160;  <span class="keywordflow">if</span> (normal_all_neighbors!=NULL)</div>
<div class="line"><a name="l00975"></a><span class="lineno">  975</span>&#160;    normal_all_neighbors-&gt;setZero ();</div>
<div class="line"><a name="l00976"></a><span class="lineno">  976</span>&#160;  <span class="keywordflow">if</span> (mean_all_neighbors!=NULL)</div>
<div class="line"><a name="l00977"></a><span class="lineno">  977</span>&#160;    mean_all_neighbors-&gt;setZero ();</div>
<div class="line"><a name="l00978"></a><span class="lineno">  978</span>&#160;  <span class="keywordflow">if</span> (eigen_values_all_neighbors!=NULL)</div>
<div class="line"><a name="l00979"></a><span class="lineno">  979</span>&#160;    eigen_values_all_neighbors-&gt;setZero ();</div>
<div class="line"><a name="l00980"></a><span class="lineno">  980</span>&#160;  </div>
<div class="line"><a name="l00981"></a><span class="lineno">  981</span>&#160;  <span class="keywordtype">int</span> blocksize = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (pow (<span class="keyword">static_cast&lt;</span><span class="keywordtype">double</span><span class="keyword">&gt;</span> ( (2.0 * radius + 1.0)), 2.0));</div>
<div class="line"><a name="l00982"></a><span class="lineno">  982</span>&#160;  </div>
<div class="line"><a name="l00983"></a><span class="lineno">  983</span>&#160;  <a class="code" href="structpcl_1_1_point_with_range.html">PointWithRange</a> given_point;</div>
<div class="line"><a name="l00984"></a><span class="lineno">  984</span>&#160;  given_point.x=point[0];  given_point.y=point[1];  given_point.z=point[2];</div>
<div class="line"><a name="l00985"></a><span class="lineno">  985</span>&#160;  </div>
<div class="line"><a name="l00986"></a><span class="lineno">  986</span>&#160;  std::vector&lt;NeighborWithDistance&gt; ordered_neighbors (blocksize);</div>
<div class="line"><a name="l00987"></a><span class="lineno">  987</span>&#160;  <span class="keywordtype">int</span> neighbor_counter = 0;</div>
<div class="line"><a name="l00988"></a><span class="lineno">  988</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> y2=y-radius; y2&lt;=y+radius; y2+=step_size)</div>
<div class="line"><a name="l00989"></a><span class="lineno">  989</span>&#160;  {</div>
<div class="line"><a name="l00990"></a><span class="lineno">  990</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> x2=x-radius; x2&lt;=x+radius; x2+=step_size)</div>
<div class="line"><a name="l00991"></a><span class="lineno">  991</span>&#160;    {</div>
<div class="line"><a name="l00992"></a><span class="lineno">  992</span>&#160;      <span class="keywordflow">if</span> (!<a class="code" href="classpcl_1_1_range_image.html#a2372989721c3c119bb5d4b5ebd9b59c3">isValid</a> (x2, y2))</div>
<div class="line"><a name="l00993"></a><span class="lineno">  993</span>&#160;        <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00994"></a><span class="lineno">  994</span>&#160;      NeighborWithDistance&amp; neighbor_with_distance = ordered_neighbors[neighbor_counter];</div>
<div class="line"><a name="l00995"></a><span class="lineno">  995</span>&#160;      neighbor_with_distance.neighbor = &amp;<a class="code" href="classpcl_1_1_range_image.html#a52164736793c99cc9fc48dedee615e45">getPoint</a> (x2, y2);</div>
<div class="line"><a name="l00996"></a><span class="lineno">  996</span>&#160;      neighbor_with_distance.distance = <a class="code" href="common_2include_2pcl_2common_2distances_8h.html#a28ecc173df18d9175dee9f4dd042390b">squaredEuclideanDistance</a> (given_point, *neighbor_with_distance.neighbor);</div>
<div class="line"><a name="l00997"></a><span class="lineno">  997</span>&#160;      ++neighbor_counter;</div>
<div class="line"><a name="l00998"></a><span class="lineno">  998</span>&#160;    }</div>
<div class="line"><a name="l00999"></a><span class="lineno">  999</span>&#160;  }</div>
<div class="line"><a name="l01000"></a><span class="lineno"> 1000</span>&#160;  no_of_closest_neighbors = (std::min) (neighbor_counter, no_of_closest_neighbors);</div>
<div class="line"><a name="l01001"></a><span class="lineno"> 1001</span>&#160; </div>
<div class="line"><a name="l01002"></a><span class="lineno"> 1002</span>&#160;  std::sort (ordered_neighbors.begin (), ordered_neighbors.begin () + neighbor_counter);  <span class="comment">// Normal sort seems to be the fastest method (faster than partial_sort)</span></div>
<div class="line"><a name="l01003"></a><span class="lineno"> 1003</span>&#160;  <span class="comment">//std::stable_sort (ordered_neighbors, ordered_neighbors+neighbor_counter);</span></div>
<div class="line"><a name="l01004"></a><span class="lineno"> 1004</span>&#160;  <span class="comment">//std::partial_sort (ordered_neighbors, ordered_neighbors+no_of_closest_neighbors, ordered_neighbors+neighbor_counter);</span></div>
<div class="line"><a name="l01005"></a><span class="lineno"> 1005</span>&#160;  </div>
<div class="line"><a name="l01006"></a><span class="lineno"> 1006</span>&#160;  max_closest_neighbor_distance_squared = ordered_neighbors[no_of_closest_neighbors-1].distance;</div>
<div class="line"><a name="l01007"></a><span class="lineno"> 1007</span>&#160;  <span class="comment">//float max_distance_squared = max_closest_neighbor_distance_squared;</span></div>
<div class="line"><a name="l01008"></a><span class="lineno"> 1008</span>&#160;  <span class="keywordtype">float</span> max_distance_squared = max_closest_neighbor_distance_squared*4.0f;  <span class="comment">// Double the allowed distance value</span></div>
<div class="line"><a name="l01009"></a><span class="lineno"> 1009</span>&#160;  <span class="comment">//max_closest_neighbor_distance_squared = max_distance_squared;</span></div>
<div class="line"><a name="l01010"></a><span class="lineno"> 1010</span>&#160;  </div>
<div class="line"><a name="l01011"></a><span class="lineno"> 1011</span>&#160;  <a class="code" href="classpcl_1_1_vector_average.html">VectorAverage3f</a> vector_average;</div>
<div class="line"><a name="l01012"></a><span class="lineno"> 1012</span>&#160;  <span class="comment">//for (int neighbor_idx=0; neighbor_idx&lt;no_of_closest_neighbors; ++neighbor_idx)</span></div>
<div class="line"><a name="l01013"></a><span class="lineno"> 1013</span>&#160;  <span class="keywordtype">int</span> neighbor_idx;</div>
<div class="line"><a name="l01014"></a><span class="lineno"> 1014</span>&#160;  <span class="keywordflow">for</span> (neighbor_idx=0; neighbor_idx&lt;neighbor_counter; ++neighbor_idx)</div>
<div class="line"><a name="l01015"></a><span class="lineno"> 1015</span>&#160;  {</div>
<div class="line"><a name="l01016"></a><span class="lineno"> 1016</span>&#160;    <span class="keywordflow">if</span> (ordered_neighbors[neighbor_idx].distance &gt; max_distance_squared)</div>
<div class="line"><a name="l01017"></a><span class="lineno"> 1017</span>&#160;      <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l01018"></a><span class="lineno"> 1018</span>&#160;    <span class="comment">//std::cout &lt;&lt; ordered_neighbors[neighbor_idx].distance&lt;&lt;&quot;\n&quot;;</span></div>
<div class="line"><a name="l01019"></a><span class="lineno"> 1019</span>&#160;    vector_average.<a class="code" href="classpcl_1_1_vector_average.html#a4baf3e577114982e97f6f9a41affaa79">add</a> (ordered_neighbors[neighbor_idx].neighbor-&gt;getVector3fMap ());</div>
<div class="line"><a name="l01020"></a><span class="lineno"> 1020</span>&#160;  }</div>
<div class="line"><a name="l01021"></a><span class="lineno"> 1021</span>&#160;  </div>
<div class="line"><a name="l01022"></a><span class="lineno"> 1022</span>&#160;  <span class="keywordflow">if</span> (vector_average.<a class="code" href="classpcl_1_1_vector_average.html#aa4247de7da2c1d3b80762c6123c62d30">getNoOfSamples</a> () &lt; 3)</div>
<div class="line"><a name="l01023"></a><span class="lineno"> 1023</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a name="l01024"></a><span class="lineno"> 1024</span>&#160;  <span class="comment">//std::cout &lt;&lt; PVARN (vector_average.getNoOfSamples ());</span></div>
<div class="line"><a name="l01025"></a><span class="lineno"> 1025</span>&#160;  Eigen::Vector3f eigen_vector2, eigen_vector3;</div>
<div class="line"><a name="l01026"></a><span class="lineno"> 1026</span>&#160;  vector_average.<a class="code" href="classpcl_1_1_vector_average.html#a468b99fac0cff4eaed8121df1b643de7">doPCA</a> (eigen_values, normal, eigen_vector2, eigen_vector3);</div>
<div class="line"><a name="l01027"></a><span class="lineno"> 1027</span>&#160;  Eigen::Vector3f viewing_direction = (<a class="code" href="classpcl_1_1_range_image.html#a942d6b253c5df68008614af6dfed323a">getSensorPos</a> ()-point).normalized ();</div>
<div class="line"><a name="l01028"></a><span class="lineno"> 1028</span>&#160;  <span class="keywordflow">if</span> (normal.dot (viewing_direction) &lt; 0.0f)</div>
<div class="line"><a name="l01029"></a><span class="lineno"> 1029</span>&#160;    normal *= -1.0f;</div>
<div class="line"><a name="l01030"></a><span class="lineno"> 1030</span>&#160;  mean = vector_average.<a class="code" href="classpcl_1_1_vector_average.html#af301d1b1c35ce778bdc37f078c8fbe35">getMean</a> ();</div>
<div class="line"><a name="l01031"></a><span class="lineno"> 1031</span>&#160;  </div>
<div class="line"><a name="l01032"></a><span class="lineno"> 1032</span>&#160;  <span class="keywordflow">if</span> (normal_all_neighbors==NULL)</div>
<div class="line"><a name="l01033"></a><span class="lineno"> 1033</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
<div class="line"><a name="l01034"></a><span class="lineno"> 1034</span>&#160;  </div>
<div class="line"><a name="l01035"></a><span class="lineno"> 1035</span>&#160;  <span class="comment">// Add remaining neighbors</span></div>
<div class="line"><a name="l01036"></a><span class="lineno"> 1036</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> neighbor_idx2=neighbor_idx; neighbor_idx2&lt;neighbor_counter; ++neighbor_idx2)</div>
<div class="line"><a name="l01037"></a><span class="lineno"> 1037</span>&#160;    vector_average.<a class="code" href="classpcl_1_1_vector_average.html#a4baf3e577114982e97f6f9a41affaa79">add</a> (ordered_neighbors[neighbor_idx2].neighbor-&gt;getVector3fMap ());</div>
<div class="line"><a name="l01038"></a><span class="lineno"> 1038</span>&#160;  </div>
<div class="line"><a name="l01039"></a><span class="lineno"> 1039</span>&#160;  vector_average.<a class="code" href="classpcl_1_1_vector_average.html#a468b99fac0cff4eaed8121df1b643de7">doPCA</a> (*eigen_values_all_neighbors, *normal_all_neighbors, eigen_vector2, eigen_vector3);</div>
<div class="line"><a name="l01040"></a><span class="lineno"> 1040</span>&#160;  <span class="comment">//std::cout &lt;&lt; PVARN (vector_average.getNoOfSamples ())&lt;&lt;&quot;.\n&quot;;</span></div>
<div class="line"><a name="l01041"></a><span class="lineno"> 1041</span>&#160;  <span class="keywordflow">if</span> (normal_all_neighbors-&gt;dot (viewing_direction) &lt; 0.0f)</div>
<div class="line"><a name="l01042"></a><span class="lineno"> 1042</span>&#160;    *normal_all_neighbors *= -1.0f;</div>
<div class="line"><a name="l01043"></a><span class="lineno"> 1043</span>&#160;  *mean_all_neighbors = vector_average.<a class="code" href="classpcl_1_1_vector_average.html#af301d1b1c35ce778bdc37f078c8fbe35">getMean</a> ();</div>
<div class="line"><a name="l01044"></a><span class="lineno"> 1044</span>&#160;  </div>
<div class="line"><a name="l01045"></a><span class="lineno"> 1045</span>&#160;  <span class="comment">//std::cout &lt;&lt; viewing_direction[0]&lt;&lt;&quot;,&quot;&lt;&lt;viewing_direction[1]&lt;&lt;&quot;,&quot;&lt;&lt;viewing_direction[2]&lt;&lt;&quot;\n&quot;;</span></div>
<div class="line"><a name="l01046"></a><span class="lineno"> 1046</span>&#160;  </div>
<div class="line"><a name="l01047"></a><span class="lineno"> 1047</span>&#160;  <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
<div class="line"><a name="l01048"></a><span class="lineno"> 1048</span>&#160;}</div>
<div class="line"><a name="l01049"></a><span class="lineno"> 1049</span>&#160; </div>
<div class="line"><a name="l01051"></a><span class="lineno"> 1051</span>&#160;<span class="keywordtype">float</span> </div>
<div class="line"><a name="l01052"></a><span class="lineno"> 1052</span>&#160;RangeImage::getSquaredDistanceOfNthNeighbor (<span class="keywordtype">int</span> x, <span class="keywordtype">int</span> y, <span class="keywordtype">int</span> radius, <span class="keywordtype">int</span> n, <span class="keywordtype">int</span> step_size)<span class="keyword"> const</span></div>
<div class="line"><a name="l01053"></a><span class="lineno"> 1053</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l01054"></a><span class="lineno"> 1054</span>&#160;  <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_with_range.html">PointWithRange</a>&amp; point = <a class="code" href="classpcl_1_1_range_image.html#a52164736793c99cc9fc48dedee615e45">getPoint</a> (x, y);</div>
<div class="line"><a name="l01055"></a><span class="lineno"> 1055</span>&#160;  <span class="keywordflow">if</span> (!pcl_isfinite (point.range))</div>
<div class="line"><a name="l01056"></a><span class="lineno"> 1056</span>&#160;    <span class="keywordflow">return</span> -std::numeric_limits&lt;float&gt;::infinity ();</div>
<div class="line"><a name="l01057"></a><span class="lineno"> 1057</span>&#160;  </div>
<div class="line"><a name="l01058"></a><span class="lineno"> 1058</span>&#160;  <span class="keywordtype">int</span> blocksize = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (pow (<span class="keyword">static_cast&lt;</span><span class="keywordtype">double</span><span class="keyword">&gt;</span> (2.0 * radius + 1.0), 2.0));</div>
<div class="line"><a name="l01059"></a><span class="lineno"> 1059</span>&#160;  std::vector&lt;float&gt; neighbor_distances (blocksize);</div>
<div class="line"><a name="l01060"></a><span class="lineno"> 1060</span>&#160;  <span class="keywordtype">int</span> neighbor_counter = 0;</div>
<div class="line"><a name="l01061"></a><span class="lineno"> 1061</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> y2=y-radius; y2&lt;=y+radius; y2+=step_size)</div>
<div class="line"><a name="l01062"></a><span class="lineno"> 1062</span>&#160;  {</div>
<div class="line"><a name="l01063"></a><span class="lineno"> 1063</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> x2=x-radius; x2&lt;=x+radius; x2+=step_size)</div>
<div class="line"><a name="l01064"></a><span class="lineno"> 1064</span>&#160;    {</div>
<div class="line"><a name="l01065"></a><span class="lineno"> 1065</span>&#160;      <span class="keywordflow">if</span> (!<a class="code" href="classpcl_1_1_range_image.html#a2372989721c3c119bb5d4b5ebd9b59c3">isValid</a> (x2, y2) || (x2==x&amp;&amp;y2==y))</div>
<div class="line"><a name="l01066"></a><span class="lineno"> 1066</span>&#160;        <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l01067"></a><span class="lineno"> 1067</span>&#160;      <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_with_range.html">PointWithRange</a>&amp; neighbor = <a class="code" href="classpcl_1_1_range_image.html#a587663a5b4123f4c423c9e38a9b36d41">getPointNoCheck</a> (x2,y2);</div>
<div class="line"><a name="l01068"></a><span class="lineno"> 1068</span>&#160;      <span class="keywordtype">float</span>&amp; neighbor_distance = neighbor_distances[neighbor_counter++];</div>
<div class="line"><a name="l01069"></a><span class="lineno"> 1069</span>&#160;      neighbor_distance = <a class="code" href="common_2include_2pcl_2common_2distances_8h.html#a28ecc173df18d9175dee9f4dd042390b">squaredEuclideanDistance</a> (point, neighbor);</div>
<div class="line"><a name="l01070"></a><span class="lineno"> 1070</span>&#160;    }</div>
<div class="line"><a name="l01071"></a><span class="lineno"> 1071</span>&#160;  }</div>
<div class="line"><a name="l01072"></a><span class="lineno"> 1072</span>&#160;  std::sort (neighbor_distances.begin (), neighbor_distances.begin () + neighbor_counter);  <span class="comment">// Normal sort seems to be</span></div>
<div class="line"><a name="l01073"></a><span class="lineno"> 1073</span>&#160;                                                                      <span class="comment">// the fastest method (faster than partial_sort)</span></div>
<div class="line"><a name="l01074"></a><span class="lineno"> 1074</span>&#160;  n = (std::min) (neighbor_counter, n);</div>
<div class="line"><a name="l01075"></a><span class="lineno"> 1075</span>&#160;  <span class="keywordflow">return</span> neighbor_distances[n-1];</div>
<div class="line"><a name="l01076"></a><span class="lineno"> 1076</span>&#160;}</div>
<div class="line"><a name="l01077"></a><span class="lineno"> 1077</span>&#160; </div>
<div class="line"><a name="l01078"></a><span class="lineno"> 1078</span>&#160; </div>
<div class="line"><a name="l01080"></a><span class="lineno"> 1080</span>&#160;<span class="keywordtype">bool</span> </div>
<div class="line"><a name="l01081"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image.html#a2de7a8f331c28ac81440ba74e56369bc"> 1081</a></span>&#160;<a class="code" href="classpcl_1_1_range_image.html#accb0781e43e55cff62851019ffac47ce">RangeImage::getNormalForClosestNeighbors</a> (<span class="keywordtype">int</span> x, <span class="keywordtype">int</span> y, <span class="keywordtype">int</span> radius, <span class="keyword">const</span> Eigen::Vector3f&amp; point, <span class="keywordtype">int</span> no_of_nearest_neighbors,</div>
<div class="line"><a name="l01082"></a><span class="lineno"> 1082</span>&#160;                                                     Eigen::Vector3f&amp; normal, Eigen::Vector3f* point_on_plane, <span class="keywordtype">int</span> step_size)<span class="keyword"> const</span></div>
<div class="line"><a name="l01083"></a><span class="lineno"> 1083</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l01084"></a><span class="lineno"> 1084</span>&#160;  Eigen::Vector3f mean, eigen_values;</div>
<div class="line"><a name="l01085"></a><span class="lineno"> 1085</span>&#160;  <span class="keywordtype">float</span> used_squared_max_distance;</div>
<div class="line"><a name="l01086"></a><span class="lineno"> 1086</span>&#160;  <span class="keywordtype">bool</span> ret = <a class="code" href="classpcl_1_1_range_image.html#abf1ce91a6aae13aefb5d3026273eb108">getSurfaceInformation</a> (x, y, radius, point, no_of_nearest_neighbors, step_size, used_squared_max_distance,</div>
<div class="line"><a name="l01087"></a><span class="lineno"> 1087</span>&#160;                                   normal, mean, eigen_values);</div>
<div class="line"><a name="l01088"></a><span class="lineno"> 1088</span>&#160;  </div>
<div class="line"><a name="l01089"></a><span class="lineno"> 1089</span>&#160;  <span class="keywordflow">if</span> (ret)</div>
<div class="line"><a name="l01090"></a><span class="lineno"> 1090</span>&#160;  {</div>
<div class="line"><a name="l01091"></a><span class="lineno"> 1091</span>&#160;    <span class="keywordflow">if</span> (point_on_plane != NULL)</div>
<div class="line"><a name="l01092"></a><span class="lineno"> 1092</span>&#160;      *point_on_plane = (normal.dot (mean) - normal.dot (point))*normal + point;</div>
<div class="line"><a name="l01093"></a><span class="lineno"> 1093</span>&#160;  }</div>
<div class="line"><a name="l01094"></a><span class="lineno"> 1094</span>&#160;  <span class="keywordflow">return</span> ret;</div>
<div class="line"><a name="l01095"></a><span class="lineno"> 1095</span>&#160;}</div>
<div class="line"><a name="l01096"></a><span class="lineno"> 1096</span>&#160; </div>
<div class="line"><a name="l01097"></a><span class="lineno"> 1097</span>&#160; </div>
<div class="line"><a name="l01099"></a><span class="lineno"> 1099</span>&#160;<span class="keywordtype">float</span> </div>
<div class="line"><a name="l01100"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image.html#ac6a22e10be8bfcedf9297d1e1badef1c"> 1100</a></span>&#160;<a class="code" href="classpcl_1_1_range_image.html#ac6a22e10be8bfcedf9297d1e1badef1c">RangeImage::getCurvature</a> (<span class="keywordtype">int</span> x, <span class="keywordtype">int</span> y, <span class="keywordtype">int</span> radius, <span class="keywordtype">int</span> step_size)<span class="keyword"> const</span></div>
<div class="line"><a name="l01101"></a><span class="lineno"> 1101</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l01102"></a><span class="lineno"> 1102</span>&#160;  <a class="code" href="classpcl_1_1_vector_average.html">VectorAverage3f</a> vector_average;</div>
<div class="line"><a name="l01103"></a><span class="lineno"> 1103</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> y2=y-radius; y2&lt;=y+radius; y2+=step_size)</div>
<div class="line"><a name="l01104"></a><span class="lineno"> 1104</span>&#160;  {</div>
<div class="line"><a name="l01105"></a><span class="lineno"> 1105</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> x2=x-radius; x2&lt;=x+radius; x2+=step_size)</div>
<div class="line"><a name="l01106"></a><span class="lineno"> 1106</span>&#160;    {</div>
<div class="line"><a name="l01107"></a><span class="lineno"> 1107</span>&#160;      <span class="keywordflow">if</span> (!<a class="code" href="classpcl_1_1_range_image.html#a824a6bb27b43a174da775a656b81a483">isInImage</a> (x2, y2))</div>
<div class="line"><a name="l01108"></a><span class="lineno"> 1108</span>&#160;        <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l01109"></a><span class="lineno"> 1109</span>&#160;      <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_with_range.html">PointWithRange</a>&amp; point = <a class="code" href="classpcl_1_1_range_image.html#a52164736793c99cc9fc48dedee615e45">getPoint</a> (x2, y2);</div>
<div class="line"><a name="l01110"></a><span class="lineno"> 1110</span>&#160;      <span class="keywordflow">if</span> (!pcl_isfinite (point.range))</div>
<div class="line"><a name="l01111"></a><span class="lineno"> 1111</span>&#160;        <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l01112"></a><span class="lineno"> 1112</span>&#160;      vector_average.<a class="code" href="classpcl_1_1_vector_average.html#a4baf3e577114982e97f6f9a41affaa79">add</a> (Eigen::Vector3f (point.x, point.y, point.z));</div>
<div class="line"><a name="l01113"></a><span class="lineno"> 1113</span>&#160;    }</div>
<div class="line"><a name="l01114"></a><span class="lineno"> 1114</span>&#160;  }</div>
<div class="line"><a name="l01115"></a><span class="lineno"> 1115</span>&#160;  <span class="keywordflow">if</span> (vector_average.<a class="code" href="classpcl_1_1_vector_average.html#aa4247de7da2c1d3b80762c6123c62d30">getNoOfSamples</a> () &lt; 3)</div>
<div class="line"><a name="l01116"></a><span class="lineno"> 1116</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a name="l01117"></a><span class="lineno"> 1117</span>&#160;  Eigen::Vector3f eigen_values;</div>
<div class="line"><a name="l01118"></a><span class="lineno"> 1118</span>&#160;  vector_average.<a class="code" href="classpcl_1_1_vector_average.html#a468b99fac0cff4eaed8121df1b643de7">doPCA</a> (eigen_values);</div>
<div class="line"><a name="l01119"></a><span class="lineno"> 1119</span>&#160;  <span class="keywordflow">return</span> eigen_values[0]/eigen_values.sum ();</div>
<div class="line"><a name="l01120"></a><span class="lineno"> 1120</span>&#160;}</div>
<div class="line"><a name="l01121"></a><span class="lineno"> 1121</span>&#160; </div>
<div class="line"><a name="l01122"></a><span class="lineno"> 1122</span>&#160; </div>
<div class="line"><a name="l01124"></a><span class="lineno"> 1124</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>CloudTypeWithViewpo<span class="keywordtype">int</span>s&gt; Eigen::Vector3f </div>
<div class="line"><a name="l01125"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image.html#a49c425d518d92def18300cd029ae1855"> 1125</a></span>&#160;<a class="code" href="classpcl_1_1_range_image.html#a49c425d518d92def18300cd029ae1855">RangeImage::getAverageViewPoint</a> (<span class="keyword">const</span> PointCloudTypeWithViewpoints&amp; point_cloud)</div>
<div class="line"><a name="l01126"></a><span class="lineno"> 1126</span>&#160;{</div>
<div class="line"><a name="l01127"></a><span class="lineno"> 1127</span>&#160;  Eigen::Vector3f average_viewpoint (0,0,0);</div>
<div class="line"><a name="l01128"></a><span class="lineno"> 1128</span>&#160;  <span class="keywordtype">int</span> point_counter = 0;</div>
<div class="line"><a name="l01129"></a><span class="lineno"> 1129</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> point_idx=0; point_idx&lt;point_cloud.points.size (); ++point_idx)</div>
<div class="line"><a name="l01130"></a><span class="lineno"> 1130</span>&#160;  {</div>
<div class="line"><a name="l01131"></a><span class="lineno"> 1131</span>&#160;    <span class="keyword">const</span> <span class="keyword">typename</span> PointCloudTypeWithViewpoints::PointType&amp; point = point_cloud.points[point_idx];</div>
<div class="line"><a name="l01132"></a><span class="lineno"> 1132</span>&#160;    <span class="keywordflow">if</span> (!pcl_isfinite (point.vp_x) || !pcl_isfinite (point.vp_y) || !pcl_isfinite (point.vp_z))</div>
<div class="line"><a name="l01133"></a><span class="lineno"> 1133</span>&#160;      <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l01134"></a><span class="lineno"> 1134</span>&#160;    average_viewpoint[0] += point.vp_x;</div>
<div class="line"><a name="l01135"></a><span class="lineno"> 1135</span>&#160;    average_viewpoint[1] += point.vp_y;</div>
<div class="line"><a name="l01136"></a><span class="lineno"> 1136</span>&#160;    average_viewpoint[2] += point.vp_z;</div>
<div class="line"><a name="l01137"></a><span class="lineno"> 1137</span>&#160;    ++point_counter;</div>
<div class="line"><a name="l01138"></a><span class="lineno"> 1138</span>&#160;  }</div>
<div class="line"><a name="l01139"></a><span class="lineno"> 1139</span>&#160;  average_viewpoint /= point_counter;</div>
<div class="line"><a name="l01140"></a><span class="lineno"> 1140</span>&#160;  </div>
<div class="line"><a name="l01141"></a><span class="lineno"> 1141</span>&#160;  <span class="keywordflow">return</span> average_viewpoint;</div>
<div class="line"><a name="l01142"></a><span class="lineno"> 1142</span>&#160;}</div>
<div class="line"><a name="l01143"></a><span class="lineno"> 1143</span>&#160; </div>
<div class="line"><a name="l01145"></a><span class="lineno"> 1145</span>&#160;<span class="keywordtype">bool</span> </div>
<div class="line"><a name="l01146"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image.html#ad37bc4a8aab3d63ee7c9ef9428239f00"> 1146</a></span>&#160;<a class="code" href="classpcl_1_1_range_image.html#ad37bc4a8aab3d63ee7c9ef9428239f00">RangeImage::getViewingDirection</a> (<span class="keywordtype">int</span> x, <span class="keywordtype">int</span> y, Eigen::Vector3f&amp; viewing_direction)<span class="keyword"> const</span></div>
<div class="line"><a name="l01147"></a><span class="lineno"> 1147</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l01148"></a><span class="lineno"> 1148</span>&#160;  <span class="keywordflow">if</span> (!<a class="code" href="classpcl_1_1_range_image.html#a2372989721c3c119bb5d4b5ebd9b59c3">isValid</a> (x, y))</div>
<div class="line"><a name="l01149"></a><span class="lineno"> 1149</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a name="l01150"></a><span class="lineno"> 1150</span>&#160;  viewing_direction = (<a class="code" href="classpcl_1_1_range_image.html#a52164736793c99cc9fc48dedee615e45">getPoint</a> (x,y).getVector3fMap ()-<a class="code" href="classpcl_1_1_range_image.html#a942d6b253c5df68008614af6dfed323a">getSensorPos</a> ()).normalized ();</div>
<div class="line"><a name="l01151"></a><span class="lineno"> 1151</span>&#160;  <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
<div class="line"><a name="l01152"></a><span class="lineno"> 1152</span>&#160;}</div>
<div class="line"><a name="l01153"></a><span class="lineno"> 1153</span>&#160; </div>
<div class="line"><a name="l01155"></a><span class="lineno"> 1155</span>&#160;<span class="keywordtype">void</span> </div>
<div class="line"><a name="l01156"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image.html#a32dfa3c681a50aebc74ae6830767a831"> 1156</a></span>&#160;<a class="code" href="classpcl_1_1_range_image.html#ad37bc4a8aab3d63ee7c9ef9428239f00">RangeImage::getViewingDirection</a> (<span class="keyword">const</span> Eigen::Vector3f&amp; point, Eigen::Vector3f&amp; viewing_direction)<span class="keyword"> const</span></div>
<div class="line"><a name="l01157"></a><span class="lineno"> 1157</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l01158"></a><span class="lineno"> 1158</span>&#160;  viewing_direction = (point-<a class="code" href="classpcl_1_1_range_image.html#a942d6b253c5df68008614af6dfed323a">getSensorPos</a> ()).normalized ();</div>
<div class="line"><a name="l01159"></a><span class="lineno"> 1159</span>&#160;}</div>
<div class="line"><a name="l01160"></a><span class="lineno"> 1160</span>&#160; </div>
<div class="line"><a name="l01162"></a><span class="lineno"> 1162</span>&#160;Eigen::Affine3f </div>
<div class="line"><a name="l01163"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image.html#a6646c58459dc6780f114039d296d88d4"> 1163</a></span>&#160;<a class="code" href="classpcl_1_1_range_image.html#a6646c58459dc6780f114039d296d88d4">RangeImage::getTransformationToViewerCoordinateFrame</a> (<span class="keyword">const</span> Eigen::Vector3f&amp; point)<span class="keyword"> const</span></div>
<div class="line"><a name="l01164"></a><span class="lineno"> 1164</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l01165"></a><span class="lineno"> 1165</span>&#160;  Eigen::Affine3f transformation;</div>
<div class="line"><a name="l01166"></a><span class="lineno"> 1166</span>&#160;  <a class="code" href="classpcl_1_1_range_image.html#a6646c58459dc6780f114039d296d88d4">getTransformationToViewerCoordinateFrame</a> (point, transformation);</div>
<div class="line"><a name="l01167"></a><span class="lineno"> 1167</span>&#160;  <span class="keywordflow">return</span> transformation;</div>
<div class="line"><a name="l01168"></a><span class="lineno"> 1168</span>&#160;}</div>
<div class="line"><a name="l01169"></a><span class="lineno"> 1169</span>&#160; </div>
<div class="line"><a name="l01171"></a><span class="lineno"> 1171</span>&#160;<span class="keywordtype">void</span> </div>
<div class="line"><a name="l01172"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image.html#a4f79a45cb9beea2cca3a6f17a16d44b7"> 1172</a></span>&#160;<a class="code" href="classpcl_1_1_range_image.html#a6646c58459dc6780f114039d296d88d4">RangeImage::getTransformationToViewerCoordinateFrame</a> (<span class="keyword">const</span> Eigen::Vector3f&amp; point, Eigen::Affine3f&amp; transformation)<span class="keyword"> const</span></div>
<div class="line"><a name="l01173"></a><span class="lineno"> 1173</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l01174"></a><span class="lineno"> 1174</span>&#160;  Eigen::Vector3f viewing_direction = (point-<a class="code" href="classpcl_1_1_range_image.html#a942d6b253c5df68008614af6dfed323a">getSensorPos</a> ()).normalized ();</div>
<div class="line"><a name="l01175"></a><span class="lineno"> 1175</span>&#160;  <a class="code" href="group__common.html#ga4375e99ec2ae368eec9379f506568611">getTransformationFromTwoUnitVectorsAndOrigin</a> (Eigen::Vector3f (0.0f, -1.0f, 0.0f), viewing_direction, point, transformation);</div>
<div class="line"><a name="l01176"></a><span class="lineno"> 1176</span>&#160;}</div>
<div class="line"><a name="l01177"></a><span class="lineno"> 1177</span>&#160; </div>
<div class="line"><a name="l01179"></a><span class="lineno"> 1179</span>&#160;<span class="keywordtype">void</span> </div>
<div class="line"><a name="l01180"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image.html#ab38c579faf678914119d4190b0068ab6"> 1180</a></span>&#160;<a class="code" href="classpcl_1_1_range_image.html#ab38c579faf678914119d4190b0068ab6">RangeImage::getRotationToViewerCoordinateFrame</a> (<span class="keyword">const</span> Eigen::Vector3f&amp; point, Eigen::Affine3f&amp; transformation)<span class="keyword"> const</span></div>
<div class="line"><a name="l01181"></a><span class="lineno"> 1181</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l01182"></a><span class="lineno"> 1182</span>&#160;  Eigen::Vector3f viewing_direction = (point-<a class="code" href="classpcl_1_1_range_image.html#a942d6b253c5df68008614af6dfed323a">getSensorPos</a> ()).normalized ();</div>
<div class="line"><a name="l01183"></a><span class="lineno"> 1183</span>&#160;  <a class="code" href="group__common.html#ga7d1f523f342ff69277f23ea9f02fc5a6">getTransformationFromTwoUnitVectors</a> (Eigen::Vector3f (0.0f, -1.0f, 0.0f), viewing_direction, transformation);</div>
<div class="line"><a name="l01184"></a><span class="lineno"> 1184</span>&#160;}</div>
<div class="line"><a name="l01185"></a><span class="lineno"> 1185</span>&#160; </div>
<div class="line"><a name="l01187"></a><span class="lineno"> 1187</span>&#160;<span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l01188"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image.html#a2720450161caef9a2992b0ac943ab2b7"> 1188</a></span>&#160;<a class="code" href="classpcl_1_1_range_image.html#a2720450161caef9a2992b0ac943ab2b7">RangeImage::setAngularResolution</a> (<span class="keywordtype">float</span> angular_resolution)</div>
<div class="line"><a name="l01189"></a><span class="lineno"> 1189</span>&#160;{</div>
<div class="line"><a name="l01190"></a><span class="lineno"> 1190</span>&#160;  <a class="code" href="classpcl_1_1_range_image.html#abdbfb655cdfeb5d8ace1ac841a52a524">angular_resolution_x_</a> = <a class="code" href="classpcl_1_1_range_image.html#a9471a00ecde65c754227e155cc234942">angular_resolution_y_</a> = angular_resolution;</div>
<div class="line"><a name="l01191"></a><span class="lineno"> 1191</span>&#160;  <a class="code" href="classpcl_1_1_range_image.html#adbb1466576e6c2d08e3065b67da0b250">angular_resolution_x_reciprocal_</a> = <a class="code" href="classpcl_1_1_range_image.html#a843659230146a43690ee4d4fb53fcc92">angular_resolution_y_reciprocal_</a> = 1.0f / angular_resolution;</div>
<div class="line"><a name="l01192"></a><span class="lineno"> 1192</span>&#160;}</div>
<div class="line"><a name="l01193"></a><span class="lineno"> 1193</span>&#160; </div>
<div class="line"><a name="l01195"></a><span class="lineno"> 1195</span>&#160;<span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l01196"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image.html#a74583440e4ef4b611b7d2b638c6da28e"> 1196</a></span>&#160;<a class="code" href="classpcl_1_1_range_image.html#a2720450161caef9a2992b0ac943ab2b7">RangeImage::setAngularResolution</a> (<span class="keywordtype">float</span> angular_resolution_x, <span class="keywordtype">float</span> angular_resolution_y)</div>
<div class="line"><a name="l01197"></a><span class="lineno"> 1197</span>&#160;{</div>
<div class="line"><a name="l01198"></a><span class="lineno"> 1198</span>&#160;  <a class="code" href="classpcl_1_1_range_image.html#abdbfb655cdfeb5d8ace1ac841a52a524">angular_resolution_x_</a> = angular_resolution_x;</div>
<div class="line"><a name="l01199"></a><span class="lineno"> 1199</span>&#160;  <a class="code" href="classpcl_1_1_range_image.html#adbb1466576e6c2d08e3065b67da0b250">angular_resolution_x_reciprocal_</a> = 1.0f / <a class="code" href="classpcl_1_1_range_image.html#abdbfb655cdfeb5d8ace1ac841a52a524">angular_resolution_x_</a>;</div>
<div class="line"><a name="l01200"></a><span class="lineno"> 1200</span>&#160;  <a class="code" href="classpcl_1_1_range_image.html#a9471a00ecde65c754227e155cc234942">angular_resolution_y_</a> = angular_resolution_y;</div>
<div class="line"><a name="l01201"></a><span class="lineno"> 1201</span>&#160;  <a class="code" href="classpcl_1_1_range_image.html#a843659230146a43690ee4d4fb53fcc92">angular_resolution_y_reciprocal_</a> = 1.0f / <a class="code" href="classpcl_1_1_range_image.html#a9471a00ecde65c754227e155cc234942">angular_resolution_y_</a>;</div>
<div class="line"><a name="l01202"></a><span class="lineno"> 1202</span>&#160;}</div>
<div class="line"><a name="l01203"></a><span class="lineno"> 1203</span>&#160; </div>
<div class="line"><a name="l01205"></a><span class="lineno"> 1205</span>&#160;<span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l01206"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image.html#ab0419b66dd9e76fbc6d568049abfad3c"> 1206</a></span>&#160;<a class="code" href="classpcl_1_1_range_image.html#ab0419b66dd9e76fbc6d568049abfad3c">RangeImage::setTransformationToRangeImageSystem</a> (<span class="keyword">const</span> Eigen::Affine3f&amp; to_range_image_system)</div>
<div class="line"><a name="l01207"></a><span class="lineno"> 1207</span>&#160;{</div>
<div class="line"><a name="l01208"></a><span class="lineno"> 1208</span>&#160;  <a class="code" href="classpcl_1_1_range_image.html#ada8177479f0e95999a66294db4c0c3eb">to_range_image_system_</a> = to_range_image_system;</div>
<div class="line"><a name="l01209"></a><span class="lineno"> 1209</span>&#160;  <a class="code" href="classpcl_1_1_range_image.html#a31c36f147403c0f64e1c3a386b30e229">to_world_system_</a> = <a class="code" href="classpcl_1_1_range_image.html#ada8177479f0e95999a66294db4c0c3eb">to_range_image_system_</a>.inverse ();</div>
<div class="line"><a name="l01210"></a><span class="lineno"> 1210</span>&#160;}</div>
<div class="line"><a name="l01211"></a><span class="lineno"> 1211</span>&#160; </div>
<div class="line"><a name="l01213"></a><span class="lineno"> 1213</span>&#160;<span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l01214"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image.html#a41c0b0f74510988357a56fdc48d18f93"> 1214</a></span>&#160;<a class="code" href="classpcl_1_1_range_image.html#a6fc3548b0b33e90cead2c1ecfce14c34">RangeImage::getAngularResolution</a> (<span class="keywordtype">float</span>&amp; angular_resolution_x, <span class="keywordtype">float</span>&amp; angular_resolution_y)<span class="keyword"> const</span></div>
<div class="line"><a name="l01215"></a><span class="lineno"> 1215</span>&#160;<span class="keyword"></span>{  </div>
<div class="line"><a name="l01216"></a><span class="lineno"> 1216</span>&#160;  angular_resolution_x = <a class="code" href="classpcl_1_1_range_image.html#abdbfb655cdfeb5d8ace1ac841a52a524">angular_resolution_x_</a>;</div>
<div class="line"><a name="l01217"></a><span class="lineno"> 1217</span>&#160;  angular_resolution_y = <a class="code" href="classpcl_1_1_range_image.html#a9471a00ecde65c754227e155cc234942">angular_resolution_y_</a>;</div>
<div class="line"><a name="l01218"></a><span class="lineno"> 1218</span>&#160;}</div>
<div class="line"><a name="l01219"></a><span class="lineno"> 1219</span>&#160; </div>
<div class="line"><a name="l01221"></a><span class="lineno"> 1221</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>CloudType&gt; <span class="keywordtype">void</span> </div>
<div class="line"><a name="l01222"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image.html#a6c3ceb66679ccc84587eef5c29a16386"> 1222</a></span>&#160;<a class="code" href="classpcl_1_1_range_image.html#a6c3ceb66679ccc84587eef5c29a16386">RangeImage::integrateFarRanges</a> (<span class="keyword">const</span> PointCloudType&amp; far_ranges)</div>
<div class="line"><a name="l01223"></a><span class="lineno"> 1223</span>&#160;{</div>
<div class="line"><a name="l01224"></a><span class="lineno"> 1224</span>&#160;  <span class="keywordtype">float</span> x_real, y_real, range_of_current_point;</div>
<div class="line"><a name="l01225"></a><span class="lineno"> 1225</span>&#160;  <span class="keywordflow">for</span> (<span class="keyword">typename</span> PointCloudType::const_iterator it  = far_ranges.points.begin (); it != far_ranges.points.end (); ++it)</div>
<div class="line"><a name="l01226"></a><span class="lineno"> 1226</span>&#160;  {</div>
<div class="line"><a name="l01227"></a><span class="lineno"> 1227</span>&#160;    <span class="comment">//if (!isFinite (*it))  // Check for NAN etc</span></div>
<div class="line"><a name="l01228"></a><span class="lineno"> 1228</span>&#160;      <span class="comment">//continue;</span></div>
<div class="line"><a name="l01229"></a><span class="lineno"> 1229</span>&#160;    Vector3fMapConst current_point = it-&gt;getVector3fMap ();</div>
<div class="line"><a name="l01230"></a><span class="lineno"> 1230</span>&#160;    </div>
<div class="line"><a name="l01231"></a><span class="lineno"> 1231</span>&#160;    this-&gt;<a class="code" href="classpcl_1_1_range_image.html#a7a53bfc9f4a3365ee8e62513ae37eb5c">getImagePoint</a> (current_point, x_real, y_real, range_of_current_point);</div>
<div class="line"><a name="l01232"></a><span class="lineno"> 1232</span>&#160;    </div>
<div class="line"><a name="l01233"></a><span class="lineno"> 1233</span>&#160;    <span class="keywordtype">int</span> floor_x = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (pcl_lrint (floor (x_real))), </div>
<div class="line"><a name="l01234"></a><span class="lineno"> 1234</span>&#160;        floor_y = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (pcl_lrint (floor (y_real))),</div>
<div class="line"><a name="l01235"></a><span class="lineno"> 1235</span>&#160;        ceil_x  = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (pcl_lrint (ceil (x_real))),</div>
<div class="line"><a name="l01236"></a><span class="lineno"> 1236</span>&#160;        ceil_y  = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (pcl_lrint (ceil (y_real)));</div>
<div class="line"><a name="l01237"></a><span class="lineno"> 1237</span>&#160;    </div>
<div class="line"><a name="l01238"></a><span class="lineno"> 1238</span>&#160;    <span class="keywordtype">int</span> neighbor_x[4], neighbor_y[4];</div>
<div class="line"><a name="l01239"></a><span class="lineno"> 1239</span>&#160;    neighbor_x[0]=floor_x; neighbor_y[0]=floor_y;</div>
<div class="line"><a name="l01240"></a><span class="lineno"> 1240</span>&#160;    neighbor_x[1]=floor_x; neighbor_y[1]=ceil_y;</div>
<div class="line"><a name="l01241"></a><span class="lineno"> 1241</span>&#160;    neighbor_x[2]=ceil_x;  neighbor_y[2]=floor_y;</div>
<div class="line"><a name="l01242"></a><span class="lineno"> 1242</span>&#160;    neighbor_x[3]=ceil_x;  neighbor_y[3]=ceil_y;</div>
<div class="line"><a name="l01243"></a><span class="lineno"> 1243</span>&#160;    </div>
<div class="line"><a name="l01244"></a><span class="lineno"> 1244</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i=0; i&lt;4; ++i)</div>
<div class="line"><a name="l01245"></a><span class="lineno"> 1245</span>&#160;    {</div>
<div class="line"><a name="l01246"></a><span class="lineno"> 1246</span>&#160;      <span class="keywordtype">int</span> x=neighbor_x[i], y=neighbor_y[i];</div>
<div class="line"><a name="l01247"></a><span class="lineno"> 1247</span>&#160;      <span class="keywordflow">if</span> (!<a class="code" href="classpcl_1_1_range_image.html#a824a6bb27b43a174da775a656b81a483">isInImage</a> (x, y))</div>
<div class="line"><a name="l01248"></a><span class="lineno"> 1248</span>&#160;        <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l01249"></a><span class="lineno"> 1249</span>&#160;      <a class="code" href="structpcl_1_1_point_with_range.html">PointWithRange</a>&amp; image_point = <a class="code" href="classpcl_1_1_range_image.html#a52164736793c99cc9fc48dedee615e45">getPoint</a> (x, y);</div>
<div class="line"><a name="l01250"></a><span class="lineno"> 1250</span>&#160;      <span class="keywordflow">if</span> (!pcl_isfinite (image_point.range))</div>
<div class="line"><a name="l01251"></a><span class="lineno"> 1251</span>&#160;        image_point.range = std::numeric_limits&lt;float&gt;::infinity ();</div>
<div class="line"><a name="l01252"></a><span class="lineno"> 1252</span>&#160;    }</div>
<div class="line"><a name="l01253"></a><span class="lineno"> 1253</span>&#160;  }</div>
<div class="line"><a name="l01254"></a><span class="lineno"> 1254</span>&#160;}</div>
<div class="line"><a name="l01255"></a><span class="lineno"> 1255</span>&#160; </div>
<div class="line"><a name="l01256"></a><span class="lineno"> 1256</span>&#160;}  <span class="comment">// namespace end</span></div>
<div class="line"><a name="l01257"></a><span class="lineno"> 1257</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l01258"></a><span class="lineno"> 1258</span>&#160; </div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a2185a6453f8ad905d7bdf7b45754a160"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">pcl::PointCloud&lt; PointWithRange &gt;::width</a></div><div class="ttdeci">uint32_t width</div><div class="ttdoc">The point cloud width (if organized as an image-structure).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:413</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a3ca88d8ebf6f4f35acbc31cdfb38aa94"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">pcl::PointCloud&lt; PointWithRange &gt;::is_dense</a></div><div class="ttdeci">bool is_dense</div><div class="ttdoc">True if no points are invalid (e.g., have NaN or Inf values).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:418</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a4f34b45220c57f96607513ffad0d9582"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">pcl::PointCloud&lt; PointWithRange &gt;::height</a></div><div class="ttdeci">uint32_t height</div><div class="ttdoc">The point cloud height (if organized as an image-structure).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:415</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_af16a62638198313b9c093127c492c884"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">pcl::PointCloud&lt; PointWithRange &gt;::points</a></div><div class="ttdeci">std::vector&lt; PointWithRange, Eigen::aligned_allocator&lt; PointWithRange &gt; &gt; points</div><div class="ttdoc">The point data.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:410</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a08d6ccfef80c3788102327df618a3fbf"><div class="ttname"><a href="classpcl_1_1_range_image.html#a08d6ccfef80c3788102327df618a3fbf">pcl::RangeImage::recalculate3DPointPositions</a></div><div class="ttdeci">PCL_EXPORTS void recalculate3DPointPositions()</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a1518af9f1c9eb6ac259be92824842e23"><div class="ttname"><a href="classpcl_1_1_range_image.html#a1518af9f1c9eb6ac259be92824842e23">pcl::RangeImage::image_offset_y_</a></div><div class="ttdeci">int image_offset_y_</div><div class="ttdef"><b>Definition:</b> range_image.h:778</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a17835570c515cca3ba1ecd0f132bf013"><div class="ttname"><a href="classpcl_1_1_range_image.html#a17835570c515cca3ba1ecd0f132bf013">pcl::RangeImage::atan2LookUp</a></div><div class="ttdeci">static float atan2LookUp(float y, float x)</div><div class="ttdef"><b>Definition:</b> range_image.hpp:60</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a1acc16b4b5fb7071175bada62a5b75d0"><div class="ttname"><a href="classpcl_1_1_range_image.html#a1acc16b4b5fb7071175bada62a5b75d0">pcl::RangeImage::calculate3DPoint</a></div><div class="ttdeci">void calculate3DPoint(float image_x, float image_y, float range, PointWithRange &amp;point) const</div><div class="ttdef"><b>Definition:</b> range_image.hpp:585</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a1ca716a0e6b2aba846bdb4079275f6d9"><div class="ttname"><a href="classpcl_1_1_range_image.html#a1ca716a0e6b2aba846bdb4079275f6d9">pcl::RangeImage::getImpactAngleBasedOnLocalNormal</a></div><div class="ttdeci">float getImpactAngleBasedOnLocalNormal(int x, int y, int radius) const</div><div class="ttdef"><b>Definition:</b> range_image.hpp:885</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a20f223d93080e9ce32122f90a265f7c4"><div class="ttname"><a href="classpcl_1_1_range_image.html#a20f223d93080e9ce32122f90a265f7c4">pcl::RangeImage::cropImage</a></div><div class="ttdeci">PCL_EXPORTS void cropImage(int border_size=0, int top=-1, int right=-1, int bottom=-1, int left=-1)</div><div class="ttdoc">Cut the range image to the minimal size so that it still contains all actual range readings.</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a2290765b8ccd5608ffa4967dc282395a"><div class="ttname"><a href="classpcl_1_1_range_image.html#a2290765b8ccd5608ffa4967dc282395a">pcl::RangeImage::getAcutenessValue</a></div><div class="ttdeci">float getAcutenessValue(const PointWithRange &amp;point1, const PointWithRange &amp;point2) const</div><div class="ttdef"><b>Definition:</b> range_image.hpp:652</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a2372989721c3c119bb5d4b5ebd9b59c3"><div class="ttname"><a href="classpcl_1_1_range_image.html#a2372989721c3c119bb5d4b5ebd9b59c3">pcl::RangeImage::isValid</a></div><div class="ttdeci">bool isValid(int x, int y) const</div><div class="ttdef"><b>Definition:</b> range_image.hpp:448</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a2388ab60ff312e9034df5e67f899ea97"><div class="ttname"><a href="classpcl_1_1_range_image.html#a2388ab60ff312e9034df5e67f899ea97">pcl::RangeImage::getAnglesFromImagePoint</a></div><div class="ttdeci">void getAnglesFromImagePoint(float image_x, float image_y, float &amp;angle_x, float &amp;angle_y) const</div><div class="ttdef"><b>Definition:</b> range_image.hpp:602</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a2720450161caef9a2992b0ac943ab2b7"><div class="ttname"><a href="classpcl_1_1_range_image.html#a2720450161caef9a2992b0ac943ab2b7">pcl::RangeImage::setAngularResolution</a></div><div class="ttdeci">void setAngularResolution(float angular_resolution)</div><div class="ttdoc">Set the angular resolution of the range image</div><div class="ttdef"><b>Definition:</b> range_image.hpp:1188</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a29ab1f1088b1c8d111dfe02139882ded"><div class="ttname"><a href="classpcl_1_1_range_image.html#a29ab1f1088b1c8d111dfe02139882ded">pcl::RangeImage::cosLookUp</a></div><div class="ttdeci">static float cosLookUp(float value)</div><div class="ttdef"><b>Definition:</b> range_image.hpp:86</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a2e3b75077a96415e431b90f53a249773"><div class="ttname"><a href="classpcl_1_1_range_image.html#a2e3b75077a96415e431b90f53a249773">pcl::RangeImage::getEigenVector3f</a></div><div class="ttdeci">static Eigen::Vector3f getEigenVector3f(const PointWithRange &amp;point)</div><div class="ttdoc">Get Eigen::Vector3f from PointWithRange</div><div class="ttdef"><b>Definition:</b> range_image.hpp:795</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a31c36f147403c0f64e1c3a386b30e229"><div class="ttname"><a href="classpcl_1_1_range_image.html#a31c36f147403c0f64e1c3a386b30e229">pcl::RangeImage::to_world_system_</a></div><div class="ttdeci">Eigen::Affine3f to_world_system_</div><div class="ttdef"><b>Definition:</b> range_image.h:771</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a397d6c6b38906e98ab89b817c4191247"><div class="ttname"><a href="classpcl_1_1_range_image.html#a397d6c6b38906e98ab89b817c4191247">pcl::RangeImage::get1dPointAverage</a></div><div class="ttdeci">void get1dPointAverage(int x, int y, int delta_x, int delta_y, int no_of_points, PointWithRange &amp;average_point) const</div><div class="ttdef"><b>Definition:</b> range_image.hpp:802</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a3e63aa0e7dc143f4a4a15611edcede70"><div class="ttname"><a href="classpcl_1_1_range_image.html#a3e63aa0e7dc143f4a4a15611edcede70">pcl::RangeImage::checkPoint</a></div><div class="ttdeci">float checkPoint(const Eigen::Vector3f &amp;point, PointWithRange &amp;point_in_image) const</div><div class="ttdef"><b>Definition:</b> range_image.hpp:391</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a49c425d518d92def18300cd029ae1855"><div class="ttname"><a href="classpcl_1_1_range_image.html#a49c425d518d92def18300cd029ae1855">pcl::RangeImage::getAverageViewPoint</a></div><div class="ttdeci">static Eigen::Vector3f getAverageViewPoint(const PointCloudTypeWithViewpoints &amp;point_cloud)</div><div class="ttdoc">Get the average viewpoint of a point cloud where each point carries viewpoint information as vp_x,...</div><div class="ttdef"><b>Definition:</b> range_image.hpp:1125</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a4d702bb8f446bb382040e5872b6dbfb1"><div class="ttname"><a href="classpcl_1_1_range_image.html#a4d702bb8f446bb382040e5872b6dbfb1">pcl::RangeImage::getAverageEuclideanDistance</a></div><div class="ttdeci">float getAverageEuclideanDistance(int x, int y, int offset_x, int offset_y, int max_steps) const</div><div class="ttdoc">Doing the above for some steps in the given direction and averaging</div><div class="ttdef"><b>Definition:</b> range_image.hpp:857</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a51bf019906a3256038561354d6b95885"><div class="ttname"><a href="classpcl_1_1_range_image.html#a51bf019906a3256038561354d6b95885">pcl::RangeImage::unobserved_point</a></div><div class="ttdeci">PointWithRange unobserved_point</div><div class="ttdef"><b>Definition:</b> range_image.h:780</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a52164736793c99cc9fc48dedee615e45"><div class="ttname"><a href="classpcl_1_1_range_image.html#a52164736793c99cc9fc48dedee615e45">pcl::RangeImage::getPoint</a></div><div class="ttdeci">const PointWithRange &amp; getPoint(int image_x, int image_y) const</div><div class="ttdoc">Return the 3D point with range at the given image position</div><div class="ttdef"><b>Definition:</b> range_image.hpp:479</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a56655a55b4c83c7ce301ca0f020759b4"><div class="ttname"><a href="classpcl_1_1_range_image.html#a56655a55b4c83c7ce301ca0f020759b4">pcl::RangeImage::doZBuffer</a></div><div class="ttdeci">void doZBuffer(const PointCloudType &amp;point_cloud, float noise_level, float min_range, int &amp;top, int &amp;right, int &amp;bottom, int &amp;left)</div><div class="ttdoc">Integrate the given point cloud into the current range image using a z-buffer</div><div class="ttdef"><b>Definition:</b> range_image.hpp:230</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a587663a5b4123f4c423c9e38a9b36d41"><div class="ttname"><a href="classpcl_1_1_range_image.html#a587663a5b4123f4c423c9e38a9b36d41">pcl::RangeImage::getPointNoCheck</a></div><div class="ttdeci">const PointWithRange &amp; getPointNoCheck(int image_x, int image_y) const</div><div class="ttdoc">Return the 3D point with range at the given image position. This methd performs no error checking to ...</div><div class="ttdef"><b>Definition:</b> range_image.hpp:488</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a5b6d4bb74fa5134a6c21823dfdcdb13e"><div class="ttname"><a href="classpcl_1_1_range_image.html#a5b6d4bb74fa5134a6c21823dfdcdb13e">pcl::RangeImage::getNormalBasedAcutenessValue</a></div><div class="ttdeci">float getNormalBasedAcutenessValue(int x, int y, int radius) const</div><div class="ttdef"><b>Definition:</b> range_image.hpp:926</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a6646c58459dc6780f114039d296d88d4"><div class="ttname"><a href="classpcl_1_1_range_image.html#a6646c58459dc6780f114039d296d88d4">pcl::RangeImage::getTransformationToViewerCoordinateFrame</a></div><div class="ttdeci">Eigen::Affine3f getTransformationToViewerCoordinateFrame(const Eigen::Vector3f &amp;point) const</div><div class="ttdoc">Get the local coordinate frame with 0,0,0 in point, upright and Z as the viewing direction</div><div class="ttdef"><b>Definition:</b> range_image.hpp:1163</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a6b87fa04fd32ec986f1af9149bd46841"><div class="ttname"><a href="classpcl_1_1_range_image.html#a6b87fa04fd32ec986f1af9149bd46841">pcl::RangeImage::getImpactAngle</a></div><div class="ttdeci">float getImpactAngle(const PointWithRange &amp;point1, const PointWithRange &amp;point2) const</div><div class="ttdef"><b>Definition:</b> range_image.hpp:620</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a6c3ceb66679ccc84587eef5c29a16386"><div class="ttname"><a href="classpcl_1_1_range_image.html#a6c3ceb66679ccc84587eef5c29a16386">pcl::RangeImage::integrateFarRanges</a></div><div class="ttdeci">void integrateFarRanges(const PointCloudType &amp;far_ranges)</div><div class="ttdoc">Integrates the given far range measurements into the range image</div><div class="ttdef"><b>Definition:</b> range_image.hpp:1222</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a6cb20514cdc04674448a5e5c6cb373bc"><div class="ttname"><a href="classpcl_1_1_range_image.html#a6cb20514cdc04674448a5e5c6cb373bc">pcl::RangeImage::asinLookUp</a></div><div class="ttdeci">static float asinLookUp(float value)</div><div class="ttdef"><b>Definition:</b> range_image.hpp:50</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a6fc3548b0b33e90cead2c1ecfce14c34"><div class="ttname"><a href="classpcl_1_1_range_image.html#a6fc3548b0b33e90cead2c1ecfce14c34">pcl::RangeImage::getAngularResolution</a></div><div class="ttdeci">float getAngularResolution() const</div><div class="ttdef"><b>Definition:</b> range_image.h:354</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a75e51885e151759d815ec1b1b72ea4ff"><div class="ttname"><a href="classpcl_1_1_range_image.html#a75e51885e151759d815ec1b1b72ea4ff">pcl::RangeImage::isObserved</a></div><div class="ttdeci">bool isObserved(int x, int y) const</div><div class="ttdef"><b>Definition:</b> range_image.hpp:462</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a771ab2f1ee2952a319da20301b27ab3b"><div class="ttname"><a href="classpcl_1_1_range_image.html#a771ab2f1ee2952a319da20301b27ab3b">pcl::RangeImage::isMaxRange</a></div><div class="ttdeci">bool isMaxRange(int x, int y) const</div><div class="ttdef"><b>Definition:</b> range_image.hpp:471</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a7a53bfc9f4a3365ee8e62513ae37eb5c"><div class="ttname"><a href="classpcl_1_1_range_image.html#a7a53bfc9f4a3365ee8e62513ae37eb5c">pcl::RangeImage::getImagePoint</a></div><div class="ttdeci">virtual void getImagePoint(const Eigen::Vector3f &amp;point, float &amp;image_x, float &amp;image_y, float &amp;range) const</div><div class="ttdef"><b>Definition:</b> range_image.hpp:352</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a824a6bb27b43a174da775a656b81a483"><div class="ttname"><a href="classpcl_1_1_range_image.html#a824a6bb27b43a174da775a656b81a483">pcl::RangeImage::isInImage</a></div><div class="ttdeci">bool isInImage(int x, int y) const</div><div class="ttdef"><b>Definition:</b> range_image.hpp:441</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a82f6a143de2d73a0ad9fea6c527a2efb"><div class="ttname"><a href="classpcl_1_1_range_image.html#a82f6a143de2d73a0ad9fea6c527a2efb">pcl::RangeImage::createFromPointCloud</a></div><div class="ttdeci">void createFromPointCloud(const PointCloudType &amp;point_cloud, float angular_resolution=pcl::deg2rad(0.5f), float max_angle_width=pcl::deg2rad(360.0f), float max_angle_height=pcl::deg2rad(180.0f), const Eigen::Affine3f &amp;sensor_pose=Eigen::Affine3f::Identity(), CoordinateFrame coordinate_frame=CAMERA_FRAME, float noise_level=0.0f, float min_range=0.0f, int border_size=0)</div><div class="ttdoc">Create the depth image from a point cloud</div><div class="ttdef"><b>Definition:</b> range_image.hpp:94</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a843659230146a43690ee4d4fb53fcc92"><div class="ttname"><a href="classpcl_1_1_range_image.html#a843659230146a43690ee4d4fb53fcc92">pcl::RangeImage::angular_resolution_y_reciprocal_</a></div><div class="ttdeci">float angular_resolution_y_reciprocal_</div><div class="ttdef"><b>Definition:</b> range_image.h:776</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a86174b766aa77898e0d49ef11f4613b1"><div class="ttname"><a href="classpcl_1_1_range_image.html#a86174b766aa77898e0d49ef11f4613b1">pcl::RangeImage::real2DToInt2D</a></div><div class="ttdeci">void real2DToInt2D(float x, float y, int &amp;xInt, int &amp;yInt) const</div><div class="ttdef"><b>Definition:</b> range_image.hpp:433</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a91cb7406e0e57923a7f5d533ea578c0f"><div class="ttname"><a href="classpcl_1_1_range_image.html#a91cb7406e0e57923a7f5d533ea578c0f">pcl::RangeImage::createFromPointCloudWithViewpoints</a></div><div class="ttdeci">void createFromPointCloudWithViewpoints(const PointCloudTypeWithViewpoints &amp;point_cloud, float angular_resolution, float max_angle_width, float max_angle_height, CoordinateFrame coordinate_frame=CAMERA_FRAME, float noise_level=0.0f, float min_range=0.0f, int border_size=0)</div><div class="ttdoc">Create the depth image from a point cloud, using the average viewpoint of the points (vp_x,...</div><div class="ttdef"><b>Definition:</b> range_image.hpp:203</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a9270139a4ebc5b01e91262bba72c1cf5"><div class="ttname"><a href="classpcl_1_1_range_image.html#a9270139a4ebc5b01e91262bba72c1cf5">pcl::RangeImage::getEuclideanDistanceSquared</a></div><div class="ttdeci">float getEuclideanDistanceSquared(int x1, int y1, int x2, int y2) const</div><div class="ttdef"><b>Definition:</b> range_image.hpp:842</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a942d6b253c5df68008614af6dfed323a"><div class="ttname"><a href="classpcl_1_1_range_image.html#a942d6b253c5df68008614af6dfed323a">pcl::RangeImage::getSensorPos</a></div><div class="ttdeci">const Eigen::Vector3f getSensorPos() const</div><div class="ttdoc">Get the sensor position</div><div class="ttdef"><b>Definition:</b> range_image.hpp:676</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a9471a00ecde65c754227e155cc234942"><div class="ttname"><a href="classpcl_1_1_range_image.html#a9471a00ecde65c754227e155cc234942">pcl::RangeImage::angular_resolution_y_</a></div><div class="ttdeci">float angular_resolution_y_</div><div class="ttdef"><b>Definition:</b> range_image.h:773</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_ab0419b66dd9e76fbc6d568049abfad3c"><div class="ttname"><a href="classpcl_1_1_range_image.html#ab0419b66dd9e76fbc6d568049abfad3c">pcl::RangeImage::setTransformationToRangeImageSystem</a></div><div class="ttdeci">void setTransformationToRangeImageSystem(const Eigen::Affine3f &amp;to_range_image_system)</div><div class="ttdef"><b>Definition:</b> range_image.hpp:1206</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_ab38c579faf678914119d4190b0068ab6"><div class="ttname"><a href="classpcl_1_1_range_image.html#ab38c579faf678914119d4190b0068ab6">pcl::RangeImage::getRotationToViewerCoordinateFrame</a></div><div class="ttdeci">void getRotationToViewerCoordinateFrame(const Eigen::Vector3f &amp;point, Eigen::Affine3f &amp;transformation) const</div><div class="ttdoc">Same as above, but only returning the rotation</div><div class="ttdef"><b>Definition:</b> range_image.hpp:1180</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_abdbfb655cdfeb5d8ace1ac841a52a524"><div class="ttname"><a href="classpcl_1_1_range_image.html#abdbfb655cdfeb5d8ace1ac841a52a524">pcl::RangeImage::angular_resolution_x_</a></div><div class="ttdeci">float angular_resolution_x_</div><div class="ttdef"><b>Definition:</b> range_image.h:772</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_abf1ce91a6aae13aefb5d3026273eb108"><div class="ttname"><a href="classpcl_1_1_range_image.html#abf1ce91a6aae13aefb5d3026273eb108">pcl::RangeImage::getSurfaceInformation</a></div><div class="ttdeci">bool getSurfaceInformation(int x, int y, int radius, const Eigen::Vector3f &amp;point, int no_of_closest_neighbors, int step_size, float &amp;max_closest_neighbor_distance_squared, Eigen::Vector3f &amp;normal, Eigen::Vector3f &amp;mean, Eigen::Vector3f &amp;eigen_values, Eigen::Vector3f *normal_all_neighbors=NULL, Eigen::Vector3f *mean_all_neighbors=NULL, Eigen::Vector3f *eigen_values_all_neighbors=NULL) const</div><div class="ttdef"><b>Definition:</b> range_image.hpp:966</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_ac504743608967dcd142dc4249b82ea5a"><div class="ttname"><a href="classpcl_1_1_range_image.html#ac504743608967dcd142dc4249b82ea5a">pcl::RangeImage::getMaxAngleSize</a></div><div class="ttdeci">static float getMaxAngleSize(const Eigen::Affine3f &amp;viewer_pose, const Eigen::Vector3f &amp;center, float radius)</div><div class="ttdoc">Get the size of a certain area when seen from the given pose</div><div class="ttdef"><b>Definition:</b> range_image.hpp:788</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_ac6a22e10be8bfcedf9297d1e1badef1c"><div class="ttname"><a href="classpcl_1_1_range_image.html#ac6a22e10be8bfcedf9297d1e1badef1c">pcl::RangeImage::getCurvature</a></div><div class="ttdeci">float getCurvature(int x, int y, int radius, int step_size) const</div><div class="ttdef"><b>Definition:</b> range_image.hpp:1100</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_accb0781e43e55cff62851019ffac47ce"><div class="ttname"><a href="classpcl_1_1_range_image.html#accb0781e43e55cff62851019ffac47ce">pcl::RangeImage::getNormalForClosestNeighbors</a></div><div class="ttdeci">bool getNormalForClosestNeighbors(int x, int y, int radius, const PointWithRange &amp;point, int no_of_nearest_neighbors, Eigen::Vector3f &amp;normal, int step_size=1) const</div><div class="ttdef"><b>Definition:</b> range_image.hpp:938</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_ad37bc4a8aab3d63ee7c9ef9428239f00"><div class="ttname"><a href="classpcl_1_1_range_image.html#ad37bc4a8aab3d63ee7c9ef9428239f00">pcl::RangeImage::getViewingDirection</a></div><div class="ttdeci">bool getViewingDirection(int x, int y, Eigen::Vector3f &amp;viewing_direction) const</div><div class="ttdef"><b>Definition:</b> range_image.hpp:1146</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_ada8177479f0e95999a66294db4c0c3eb"><div class="ttname"><a href="classpcl_1_1_range_image.html#ada8177479f0e95999a66294db4c0c3eb">pcl::RangeImage::to_range_image_system_</a></div><div class="ttdeci">Eigen::Affine3f to_range_image_system_</div><div class="ttdef"><b>Definition:</b> range_image.h:770</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_adbb1466576e6c2d08e3065b67da0b250"><div class="ttname"><a href="classpcl_1_1_range_image.html#adbb1466576e6c2d08e3065b67da0b250">pcl::RangeImage::angular_resolution_x_reciprocal_</a></div><div class="ttdeci">float angular_resolution_x_reciprocal_</div><div class="ttdef"><b>Definition:</b> range_image.h:774</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_adfd931443541e194f1c53d5f7b1c43e6"><div class="ttname"><a href="classpcl_1_1_range_image.html#adfd931443541e194f1c53d5f7b1c43e6">pcl::RangeImage::getImagePointFromAngles</a></div><div class="ttdeci">void getImagePointFromAngles(float angle_x, float angle_y, float &amp;image_x, float &amp;image_y) const</div><div class="ttdef"><b>Definition:</b> range_image.hpp:425</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_aea43fc18a9695437879d4b3b3860a9ae"><div class="ttname"><a href="classpcl_1_1_range_image.html#aea43fc18a9695437879d4b3b3860a9ae">pcl::RangeImage::getRangeDifference</a></div><div class="ttdeci">float getRangeDifference(const Eigen::Vector3f &amp;point) const</div><div class="ttdef"><b>Definition:</b> range_image.hpp:405</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_aeb21e9a192704802adabd6693f00e397"><div class="ttname"><a href="classpcl_1_1_range_image.html#aeb21e9a192704802adabd6693f00e397">pcl::RangeImage::getNormal</a></div><div class="ttdeci">bool getNormal(int x, int y, int radius, Eigen::Vector3f &amp;normal, int step_size=1) const</div><div class="ttdef"><b>Definition:</b> range_image.hpp:900</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_af5c0908bfbe060fdb517728fe56b2c55"><div class="ttname"><a href="classpcl_1_1_range_image.html#af5c0908bfbe060fdb517728fe56b2c55">pcl::RangeImage::getCoordinateFrameTransformation</a></div><div class="ttdeci">static PCL_EXPORTS void getCoordinateFrameTransformation(RangeImage::CoordinateFrame coordinate_frame, Eigen::Affine3f &amp;transformation)</div><div class="ttdoc">Get the transformation that transforms the given coordinate frame into CAMERA_FRAME</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_afbb553405d9b1df2b10b08c98c052250"><div class="ttname"><a href="classpcl_1_1_range_image.html#afbb553405d9b1df2b10b08c98c052250">pcl::RangeImage::createFromPointCloudWithKnownSize</a></div><div class="ttdeci">void createFromPointCloudWithKnownSize(const PointCloudType &amp;point_cloud, float angular_resolution, const Eigen::Vector3f &amp;point_cloud_center, float point_cloud_radius, const Eigen::Affine3f &amp;sensor_pose=Eigen::Affine3f::Identity(), CoordinateFrame coordinate_frame=CAMERA_FRAME, float noise_level=0.0f, float min_range=0.0f, int border_size=0)</div><div class="ttdoc">Create the depth image from a point cloud, getting a hint about the size of the scene for faster calc...</div><div class="ttdef"><b>Definition:</b> range_image.hpp:142</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_afd94afe865f6cd46cfbc64f45bb1d03e"><div class="ttname"><a href="classpcl_1_1_range_image.html#afd94afe865f6cd46cfbc64f45bb1d03e">pcl::RangeImage::getSurfaceAngleChange</a></div><div class="ttdeci">void getSurfaceAngleChange(int x, int y, int radius, float &amp;angle_change_x, float &amp;angle_change_y) const</div><div class="ttdef"><b>Definition:</b> range_image.hpp:683</div></div>
<div class="ttc" id="aclasspcl_1_1_vector_average_html"><div class="ttname"><a href="classpcl_1_1_vector_average.html">pcl::VectorAverage</a></div><div class="ttdoc">Calculates the weighted average and the covariance matrix</div><div class="ttdef"><b>Definition:</b> vector_average.h:54</div></div>
<div class="ttc" id="aclasspcl_1_1_vector_average_html_a468b99fac0cff4eaed8121df1b643de7"><div class="ttname"><a href="classpcl_1_1_vector_average.html#a468b99fac0cff4eaed8121df1b643de7">pcl::VectorAverage::doPCA</a></div><div class="ttdeci">void doPCA(Eigen::Matrix&lt; real, dimension, 1 &gt; &amp;eigen_values, Eigen::Matrix&lt; real, dimension, 1 &gt; &amp;eigen_vector1, Eigen::Matrix&lt; real, dimension, 1 &gt; &amp;eigen_vector2, Eigen::Matrix&lt; real, dimension, 1 &gt; &amp;eigen_vector3) const</div><div class="ttdef"><b>Definition:</b> vector_average.hpp:83</div></div>
<div class="ttc" id="aclasspcl_1_1_vector_average_html_a4baf3e577114982e97f6f9a41affaa79"><div class="ttname"><a href="classpcl_1_1_vector_average.html#a4baf3e577114982e97f6f9a41affaa79">pcl::VectorAverage::add</a></div><div class="ttdeci">void add(const Eigen::Matrix&lt; real, dimension, 1 &gt; &amp;sample, real weight=1.0)</div><div class="ttdef"><b>Definition:</b> vector_average.hpp:62</div></div>
<div class="ttc" id="aclasspcl_1_1_vector_average_html_aa4247de7da2c1d3b80762c6123c62d30"><div class="ttname"><a href="classpcl_1_1_vector_average.html#aa4247de7da2c1d3b80762c6123c62d30">pcl::VectorAverage::getNoOfSamples</a></div><div class="ttdeci">unsigned int getNoOfSamples()</div><div class="ttdef"><b>Definition:</b> vector_average.h:81</div></div>
<div class="ttc" id="aclasspcl_1_1_vector_average_html_af301d1b1c35ce778bdc37f078c8fbe35"><div class="ttname"><a href="classpcl_1_1_vector_average.html#af301d1b1c35ce778bdc37f078c8fbe35">pcl::VectorAverage::getMean</a></div><div class="ttdeci">const Eigen::Matrix&lt; real, dimension, 1 &gt; &amp; getMean() const</div><div class="ttdef"><b>Definition:</b> vector_average.h:69</div></div>
<div class="ttc" id="acommon_2include_2pcl_2common_2distances_8h_html"><div class="ttname"><a href="common_2include_2pcl_2common_2distances_8h.html">distances.h</a></div></div>
<div class="ttc" id="acommon_2include_2pcl_2common_2distances_8h_html_a28ecc173df18d9175dee9f4dd042390b"><div class="ttname"><a href="common_2include_2pcl_2common_2distances_8h.html#a28ecc173df18d9175dee9f4dd042390b">pcl::squaredEuclideanDistance</a></div><div class="ttdeci">float squaredEuclideanDistance(const PointType1 &amp;p1, const PointType2 &amp;p2)</div><div class="ttdoc">Calculate the squared euclidean distance between the two given points.</div><div class="ttdef"><b>Definition:</b> distances.h:174</div></div>
<div class="ttc" id="agroup__common_html_ga25b0ce695e2a10abb0130bcb5cf90eb6"><div class="ttname"><a href="group__common.html#ga25b0ce695e2a10abb0130bcb5cf90eb6">pcl::deg2rad</a></div><div class="ttdeci">float deg2rad(float alpha)</div><div class="ttdoc">Convert an angle from degrees to radians</div><div class="ttdef"><b>Definition:</b> angles.hpp:67</div></div>
<div class="ttc" id="agroup__common_html_ga4375e99ec2ae368eec9379f506568611"><div class="ttname"><a href="group__common.html#ga4375e99ec2ae368eec9379f506568611">pcl::getTransformationFromTwoUnitVectorsAndOrigin</a></div><div class="ttdeci">void getTransformationFromTwoUnitVectorsAndOrigin(const Eigen::Vector3f &amp;y_direction, const Eigen::Vector3f &amp;z_axis, const Eigen::Vector3f &amp;origin, Eigen::Affine3f &amp;transformation)</div><div class="ttdoc">Get the transformation that will translate orign to (0,0,0) and rotate z_axis into (0,...</div><div class="ttdef"><b>Definition:</b> eigen.hpp:652</div></div>
<div class="ttc" id="agroup__common_html_ga7d1f523f342ff69277f23ea9f02fc5a6"><div class="ttname"><a href="group__common.html#ga7d1f523f342ff69277f23ea9f02fc5a6">pcl::getTransformationFromTwoUnitVectors</a></div><div class="ttdeci">void getTransformationFromTwoUnitVectors(const Eigen::Vector3f &amp;y_direction, const Eigen::Vector3f &amp;z_axis, Eigen::Affine3f &amp;transformation)</div><div class="ttdoc">Get the unique 3D rotation that will rotate z_axis into (0,0,1) and y_direction into a vector with x=...</div><div class="ttdef"><b>Definition:</b> eigen.hpp:634</div></div>
<div class="ttc" id="astructpcl_1_1_point_with_range_html"><div class="ttname"><a href="structpcl_1_1_point_with_range.html">pcl::PointWithRange</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates, padded with an extra range float.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:1055</div></div>
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